diff --git a/.gitignore b/.gitignore
deleted file mode 100644
index 88589ff..0000000
--- a/.gitignore
+++ /dev/null
@@ -1,7 +0,0 @@
-oroca_bldc/.dep/*
-oroca_bldc/build/lst/*
-oroca_bldc/build/oroca_bldc.dmp
-oroca_bldc/build/oroca_bldc.elf
-oroca_bldc/build/oroca_bldc.hex
-oroca_bldc/build/oroca_bldc.map
-oroca_bldc/build/obj/*
\ No newline at end of file
diff --git a/MAVLINK_msg/ASLUAV.xml b/MAVLINK_msg/ASLUAV.xml
new file mode 100644
index 0000000..0c3e394
--- /dev/null
+++ b/MAVLINK_msg/ASLUAV.xml
@@ -0,0 +1,176 @@
+
+
+
+
+ common.xml
+
+
+
+
+ Mission command to reset Maximum Power Point Tracker (MPPT)
+ MPPT number
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to perform a power cycle on payload
+ Complete power cycle
+ VISensor power cycle
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+
+
+ Voltage and current sensor data
+ Power board voltage sensor reading in volts
+ Power board current sensor reading in amps
+ Board current sensor 1 reading in amps
+ Board current sensor 2 reading in amps
+
+
+ Maximum Power Point Tracker (MPPT) sensor data for solar module power performance tracking
+ MPPT last timestamp
+ MPPT1 voltage
+ MPPT1 current
+ MPPT1 pwm
+ MPPT1 status
+ MPPT2 voltage
+ MPPT2 current
+ MPPT2 pwm
+ MPPT2 status
+ MPPT3 voltage
+ MPPT3 current
+ MPPT3 pwm
+ MPPT3 status
+
+
+ ASL-fixed-wing controller data
+ Timestamp
+ ASLCTRL control-mode (manual, stabilized, auto, etc...)
+ See sourcecode for a description of these values...
+
+
+ Pitch angle [deg]
+ Pitch angle reference[deg]
+
+
+
+
+
+
+ Airspeed reference [m/s]
+
+ Yaw angle [deg]
+ Yaw angle reference[deg]
+ Roll angle [deg]
+ Roll angle reference[deg]
+
+
+
+
+
+
+
+
+ ASL-fixed-wing controller debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+ Debug data
+
+
+ Extended state information for ASLUAVs
+ Status of the position-indicator LEDs
+ Status of the IRIDIUM satellite communication system
+ Status vector for up to 8 servos
+ Motor RPM
+
+
+
+ Extended EKF state estimates for ASLUAVs
+ Time since system start [us]
+ Magnitude of wind velocity (in lateral inertial plane) [m/s]
+ Wind heading angle from North [rad]
+ Z (Down) component of inertial wind velocity [m/s]
+ Magnitude of air velocity [m/s]
+ Sideslip angle [rad]
+ Angle of attack [rad]
+
+
+ Off-board controls/commands for ASLUAVs
+ Time since system start [us]
+ Elevator command [~]
+ Throttle command [~]
+ Throttle 2 command [~]
+ Left aileron command [~]
+ Right aileron command [~]
+ Rudder command [~]
+ Off-board computer status
+
+
+ Atmospheric sensors (temperature, humidity, ...)
+ Ambient temperature [degrees Celsius]
+ Relative humidity [%]
+
+
+ Battery pack monitoring data for Li-Ion batteries
+ Battery pack temperature in [deg C]
+ Battery pack voltage in [mV]
+ Battery pack current in [mA]
+ Battery pack state-of-charge
+ Battery monitor status report bits in Hex
+ Battery monitor serial number in Hex
+ Battery monitor sensor host FET control in Hex
+ Battery pack cell 1 voltage in [mV]
+ Battery pack cell 2 voltage in [mV]
+ Battery pack cell 3 voltage in [mV]
+ Battery pack cell 4 voltage in [mV]
+ Battery pack cell 5 voltage in [mV]
+ Battery pack cell 6 voltage in [mV]
+
+
+ Fixed-wing soaring (i.e. thermal seeking) data
+ Timestamp [ms]
+ Timestamp since last mode change[ms]
+ Updraft speed at current/local airplane position [m/s]
+ Thermal core updraft strength [m/s]
+ Thermal radius [m]
+ Thermal center latitude [deg]
+ Thermal center longitude [deg]
+ Variance W
+ Variance R
+ Variance Lat
+ Variance Lon
+ Suggested loiter radius [m]
+ Control Mode [-]
+ Data valid [-]
+
+
+ Monitoring of sensorpod status
+ Timestamp in linuxtime [ms] (since 1.1.1970)
+ Rate of ROS topic 1
+ Rate of ROS topic 2
+ Rate of ROS topic 3
+ Rate of ROS topic 4
+ Number of recording nodes
+ Temperature of sensorpod CPU in [deg C]
+ Free space available in recordings directory in [Gb] * 1e2
+
+
+
diff --git a/MAVLINK_msg/ardupilotmega.xml b/MAVLINK_msg/ardupilotmega.xml
new file mode 100644
index 0000000..e04c0b1
--- /dev/null
+++ b/MAVLINK_msg/ardupilotmega.xml
@@ -0,0 +1,1564 @@
+
+
+ common.xml
+
+
+
+
+
+ Mission command to perform motor test
+ motor sequence number (a number from 1 to max number of motors on the vehicle)
+ throttle type (0=throttle percentage, 1=PWM, 2=pilot throttle channel pass-through. See MOTOR_TEST_THROTTLE_TYPE enum)
+ throttle
+ timeout (in seconds)
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to operate EPM gripper
+ gripper number (a number from 1 to max number of grippers on the vehicle)
+ gripper action (0=release, 1=grab. See GRIPPER_ACTIONS enum)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Enable/disable autotune
+ enable (1: enable, 0:disable)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to wait for an altitude or downwards vertical speed. This is meant for high altitude balloon launches, allowing the aircraft to be idle until either an altitude is reached or a negative vertical speed is reached (indicating early balloon burst). The wiggle time is how often to wiggle the control surfaces to prevent them seizing up.
+ altitude (m)
+ descent speed (m/s)
+ Wiggle Time (s)
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ A system wide power-off event has been initiated.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+
+ FLY button has been clicked.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ FLY button has been held for 1.5 seconds.
+ Takeoff altitude
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ PAUSE button has been clicked.
+ 1 if Solo is in a shot mode, 0 otherwise
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Initiate a magnetometer calibration
+ uint8_t bitmask of magnetometers (0 means all)
+ Automatically retry on failure (0=no retry, 1=retry).
+ Save without user input (0=require input, 1=autosave).
+ Delay (seconds)
+ Autoreboot (0=user reboot, 1=autoreboot)
+ Empty
+ Empty
+
+
+
+ Initiate a magnetometer calibration
+ uint8_t bitmask of magnetometers (0 means all)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Cancel a running magnetometer calibration
+ uint8_t bitmask of magnetometers (0 means all)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Reply with the version banner
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Causes the gimbal to reset and boot as if it was just powered on
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Command autopilot to get into factory test/diagnostic mode
+ 0 means get out of test mode, 1 means get into test mode
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Reports progress and success or failure of gimbal axis calibration procedure
+ Gimbal axis we're reporting calibration progress for
+ Current calibration progress for this axis, 0x64=100%
+ Status of the calibration
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Starts commutation calibration on the gimbal
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Erases gimbal application and parameters
+ Magic number
+ Magic number
+ Magic number
+ Magic number
+ Magic number
+ Magic number
+ Magic number
+
+
+
+
+
+
+ pre-initialization
+
+
+
+ disabled
+
+
+
+ checking limits
+
+
+
+ a limit has been breached
+
+
+
+ taking action eg. RTL
+
+
+
+ we're no longer in breach of a limit
+
+
+
+
+
+
+ pre-initialization
+
+
+
+ disabled
+
+
+
+ checking limits
+
+
+
+
+
+ Flags in RALLY_POINT message
+
+ Flag set when requiring favorable winds for landing.
+
+
+
+ Flag set when plane is to immediately descend to break altitude and land without GCS intervention. Flag not set when plane is to loiter at Rally point until commanded to land.
+
+
+
+
+
+
+ Disable parachute release
+
+
+
+ Enable parachute release
+
+
+
+ Release parachute
+
+
+
+
+
+
+ throttle as a percentage from 0 ~ 100
+
+
+
+ throttle as an absolute PWM value (normally in range of 1000~2000)
+
+
+
+ throttle pass-through from pilot's transmitter
+
+
+
+
+
+ Gripper actions.
+
+ gripper release of cargo
+
+
+
+ gripper grabs onto cargo
+
+
+
+
+
+
+ Camera heartbeat, announce camera component ID at 1hz
+
+
+
+ Camera image triggered
+
+
+
+ Camera connection lost
+
+
+
+ Camera unknown error
+
+
+
+ Camera battery low. Parameter p1 shows reported voltage
+
+
+
+ Camera storage low. Parameter p1 shows reported shots remaining
+
+
+
+ Camera storage low. Parameter p1 shows reported video minutes remaining
+
+
+
+
+
+
+ Shooting photos, not video
+
+
+
+ Shooting video, not stills
+
+
+
+ Unable to achieve requested exposure (e.g. shutter speed too low)
+
+
+
+ Closed loop feedback from camera, we know for sure it has successfully taken a picture
+
+
+
+ Open loop camera, an image trigger has been requested but we can't know for sure it has successfully taken a picture
+
+
+
+
+
+
+ Gimbal is powered on but has not started initializing yet
+
+
+
+ Gimbal is currently running calibration on the pitch axis
+
+
+
+ Gimbal is currently running calibration on the roll axis
+
+
+
+ Gimbal is currently running calibration on the yaw axis
+
+
+
+ Gimbal has finished calibrating and initializing, but is relaxed pending reception of first rate command from copter
+
+
+
+ Gimbal is actively stabilizing
+
+
+
+ Gimbal is relaxed because it missed more than 10 expected rate command messages in a row. Gimbal will move back to active mode when it receives a new rate command
+
+
+
+
+
+ Gimbal yaw axis
+
+
+
+ Gimbal pitch axis
+
+
+
+ Gimbal roll axis
+
+
+
+
+
+ Axis calibration is in progress
+
+
+
+ Axis calibration succeeded
+
+
+
+ Axis calibration failed
+
+
+
+
+
+ Whether or not this axis requires calibration is unknown at this time
+
+
+
+ This axis requires calibration
+
+
+
+ This axis does not require calibration
+
+
+
+
+
+
+ No GoPro connected
+
+
+
+ The detected GoPro is not HeroBus compatible
+
+
+
+ A HeroBus compatible GoPro is connected
+
+
+
+ An unrecoverable error was encountered with the connected GoPro, it may require a power cycle
+
+
+
+
+
+
+ GoPro is currently recording
+
+
+
+
+
+ The write message with ID indicated succeeded
+
+
+
+ The write message with ID indicated failed
+
+
+
+
+
+ (Get/Set)
+
+
+
+ (Get/Set)
+
+
+
+ (___/Set)
+
+
+
+ (Get/___)
+
+
+
+ (Get/___)
+
+
+
+ (Get/Set)
+
+
+
+
+ (Get/Set)
+
+
+
+ (Get/Set)
+
+
+
+ (Get/Set)
+
+
+
+ (Get/Set)
+
+
+
+ (Get/Set) Hero 3+ Only
+
+
+
+ (Get/Set) Hero 3+ Only
+
+
+
+ (Get/Set) Hero 3+ Only
+
+
+
+ (Get/Set) Hero 3+ Only
+
+
+
+ (Get/Set) Hero 3+ Only
+
+
+
+ (Get/Set)
+
+
+
+
+ (Get/Set)
+
+
+
+
+
+ Video mode
+
+
+
+ Photo mode
+
+
+
+ Burst mode, hero 3+ only
+
+
+
+ Time lapse mode, hero 3+ only
+
+
+
+ Multi shot mode, hero 4 only
+
+
+
+ Playback mode, hero 4 only, silver only except when LCD or HDMI is connected to black
+
+
+
+ Playback mode, hero 4 only
+
+
+
+ Mode not yet known
+
+
+
+
+
+ 848 x 480 (480p)
+
+
+
+ 1280 x 720 (720p)
+
+
+
+ 1280 x 960 (960p)
+
+
+
+ 1920 x 1080 (1080p)
+
+
+
+ 1920 x 1440 (1440p)
+
+
+
+ 2704 x 1440 (2.7k-17:9)
+
+
+
+ 2704 x 1524 (2.7k-16:9)
+
+
+
+ 2704 x 2028 (2.7k-4:3)
+
+
+
+ 3840 x 2160 (4k-16:9)
+
+
+
+ 4096 x 2160 (4k-17:9)
+
+
+
+ 1280 x 720 (720p-SuperView)
+
+
+
+ 1920 x 1080 (1080p-SuperView)
+
+
+
+ 2704 x 1520 (2.7k-SuperView)
+
+
+
+ 3840 x 2160 (4k-SuperView)
+
+
+
+
+
+ 12 FPS
+
+
+
+ 15 FPS
+
+
+
+ 24 FPS
+
+
+
+ 25 FPS
+
+
+
+ 30 FPS
+
+
+
+ 48 FPS
+
+
+
+ 50 FPS
+
+
+
+ 60 FPS
+
+
+
+ 80 FPS
+
+
+
+ 90 FPS
+
+
+
+ 100 FPS
+
+
+
+ 120 FPS
+
+
+
+ 240 FPS
+
+
+
+ 12.5 FPS
+
+
+
+
+
+ 0x00: Wide
+
+
+
+ 0x01: Medium
+
+
+
+ 0x02: Narrow
+
+
+
+
+
+ 0=NTSC, 1=PAL
+
+
+
+
+
+ 5MP Medium
+
+
+
+ 7MP Medium
+
+
+
+ 7MP Wide
+
+
+
+ 10MP Wide
+
+
+
+ 12MP Wide
+
+
+
+
+
+ Auto
+
+
+
+ 3000K
+
+
+
+ 5500K
+
+
+
+ 6500K
+
+
+
+ Camera Raw
+
+
+
+
+
+ Auto
+
+
+
+ Neutral
+
+
+
+
+
+ ISO 400
+
+
+
+ ISO 800 (Only Hero 4)
+
+
+
+ ISO 1600
+
+
+
+ ISO 3200 (Only Hero 4)
+
+
+
+ ISO 6400
+
+
+
+
+
+ Low Sharpness
+
+
+
+ Medium Sharpness
+
+
+
+ High Sharpness
+
+
+
+
+
+ -5.0 EV (Hero 3+ Only)
+
+
+
+ -4.5 EV (Hero 3+ Only)
+
+
+
+ -4.0 EV (Hero 3+ Only)
+
+
+
+ -3.5 EV (Hero 3+ Only)
+
+
+
+ -3.0 EV (Hero 3+ Only)
+
+
+
+ -2.5 EV (Hero 3+ Only)
+
+
+
+ -2.0 EV
+
+
+
+ -1.5 EV
+
+
+
+ -1.0 EV
+
+
+
+ -0.5 EV
+
+
+
+ 0.0 EV
+
+
+
+ +0.5 EV
+
+
+
+ +1.0 EV
+
+
+
+ +1.5 EV
+
+
+
+ +2.0 EV
+
+
+
+ +2.5 EV (Hero 3+ Only)
+
+
+
+ +3.0 EV (Hero 3+ Only)
+
+
+
+ +3.5 EV (Hero 3+ Only)
+
+
+
+ +4.0 EV (Hero 3+ Only)
+
+
+
+ +4.5 EV (Hero 3+ Only)
+
+
+
+ +5.0 EV (Hero 3+ Only)
+
+
+
+
+
+ Charging disabled
+
+
+
+ Charging enabled
+
+
+
+
+
+ Unknown gopro model
+
+
+
+ Hero 3+ Silver (HeroBus not supported by GoPro)
+
+
+
+ Hero 3+ Black
+
+
+
+ Hero 4 Silver
+
+
+
+ Hero 4 Black
+
+
+
+
+
+ 3 Shots / 1 Second
+
+
+
+ 5 Shots / 1 Second
+
+
+
+ 10 Shots / 1 Second
+
+
+
+ 10 Shots / 2 Second
+
+
+
+ 10 Shots / 3 Second (Hero 4 Only)
+
+
+
+ 30 Shots / 1 Second
+
+
+
+ 30 Shots / 2 Second
+
+
+
+ 30 Shots / 3 Second
+
+
+
+ 30 Shots / 6 Second
+
+
+
+
+
+
+ LED patterns off (return control to regular vehicle control)
+
+
+
+ LEDs show pattern during firmware update
+
+
+
+ Custom Pattern using custom bytes fields
+
+
+
+
+
+ Flags in EKF_STATUS message
+
+ set if EKF's attitude estimate is good
+
+
+
+ set if EKF's horizontal velocity estimate is good
+
+
+
+ set if EKF's vertical velocity estimate is good
+
+
+
+ set if EKF's horizontal position (relative) estimate is good
+
+
+
+ set if EKF's horizontal position (absolute) estimate is good
+
+
+
+ set if EKF's vertical position (absolute) estimate is good
+
+
+
+ set if EKF's vertical position (above ground) estimate is good
+
+
+
+ EKF is in constant position mode and does not know it's absolute or relative position
+
+
+
+ set if EKF's predicted horizontal position (relative) estimate is good
+
+
+
+ set if EKF's predicted horizontal position (absolute) estimate is good
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Special ACK block numbers control activation of dataflash log streaming
+
+
+
+ UAV to stop sending DataFlash blocks
+
+
+
+
+ UAV to start sending DataFlash blocks
+
+
+
+
+
+
+ Possible remote log data block statuses
+
+ This block has NOT been received
+
+
+
+ This block has been received
+
+
+
+
+
+
+ Offsets and calibrations values for hardware sensors. This makes it easier to debug the calibration process.
+ magnetometer X offset
+ magnetometer Y offset
+ magnetometer Z offset
+ magnetic declination (radians)
+ raw pressure from barometer
+ raw temperature from barometer
+ gyro X calibration
+ gyro Y calibration
+ gyro Z calibration
+ accel X calibration
+ accel Y calibration
+ accel Z calibration
+
+
+
+ Deprecated. Use MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS instead. Set the magnetometer offsets
+ System ID
+ Component ID
+ magnetometer X offset
+ magnetometer Y offset
+ magnetometer Z offset
+
+
+
+ state of APM memory
+ heap top
+ free memory
+
+
+
+ raw ADC output
+ ADC output 1
+ ADC output 2
+ ADC output 3
+ ADC output 4
+ ADC output 5
+ ADC output 6
+
+
+
+
+ Configure on-board Camera Control System.
+ System ID
+ Component ID
+ Mode enumeration from 1 to N //P, TV, AV, M, Etc (0 means ignore)
+ Divisor number //e.g. 1000 means 1/1000 (0 means ignore)
+ F stop number x 10 //e.g. 28 means 2.8 (0 means ignore)
+ ISO enumeration from 1 to N //e.g. 80, 100, 200, Etc (0 means ignore)
+ Exposure type enumeration from 1 to N (0 means ignore)
+ Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+ Extra parameters enumeration (0 means ignore)
+ Correspondent value to given extra_param
+
+
+
+ Control on-board Camera Control System to take shots.
+ System ID
+ Component ID
+ 0: stop, 1: start or keep it up //Session control e.g. show/hide lens
+ 1 to N //Zoom's absolute position (0 means ignore)
+ -100 to 100 //Zooming step value to offset zoom from the current position
+ 0: unlock focus or keep unlocked, 1: lock focus or keep locked, 3: re-lock focus
+ 0: ignore, 1: shot or start filming
+ Command Identity (incremental loop: 0 to 255)//A command sent multiple times will be executed or pooled just once
+ Extra parameters enumeration (0 means ignore)
+ Correspondent value to given extra_param
+
+
+
+
+ Message to configure a camera mount, directional antenna, etc.
+ System ID
+ Component ID
+ mount operating mode (see MAV_MOUNT_MODE enum)
+ (1 = yes, 0 = no)
+ (1 = yes, 0 = no)
+ (1 = yes, 0 = no)
+
+
+
+ Message to control a camera mount, directional antenna, etc.
+ System ID
+ Component ID
+ pitch(deg*100) or lat, depending on mount mode
+ roll(deg*100) or lon depending on mount mode
+ yaw(deg*100) or alt (in cm) depending on mount mode
+ if "1" it will save current trimmed position on EEPROM (just valid for NEUTRAL and LANDING)
+
+
+
+ Message with some status from APM to GCS about camera or antenna mount
+ System ID
+ Component ID
+ pitch(deg*100)
+ roll(deg*100)
+ yaw(deg*100)
+
+
+
+
+ A fence point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS
+ System ID
+ Component ID
+ point index (first point is 1, 0 is for return point)
+ total number of points (for sanity checking)
+ Latitude of point
+ Longitude of point
+
+
+
+ Request a current fence point from MAV
+ System ID
+ Component ID
+ point index (first point is 1, 0 is for return point)
+
+
+
+ Status of geo-fencing. Sent in extended status stream when fencing enabled
+ 0 if currently inside fence, 1 if outside
+ number of fence breaches
+ last breach type (see FENCE_BREACH_* enum)
+ time of last breach in milliseconds since boot
+
+
+
+ Status of DCM attitude estimator
+ X gyro drift estimate rad/s
+ Y gyro drift estimate rad/s
+ Z gyro drift estimate rad/s
+ average accel_weight
+ average renormalisation value
+ average error_roll_pitch value
+ average error_yaw value
+
+
+
+ Status of simulation environment, if used
+ Roll angle (rad)
+ Pitch angle (rad)
+ Yaw angle (rad)
+ X acceleration m/s/s
+ Y acceleration m/s/s
+ Z acceleration m/s/s
+ Angular speed around X axis rad/s
+ Angular speed around Y axis rad/s
+ Angular speed around Z axis rad/s
+ Latitude in degrees * 1E7
+ Longitude in degrees * 1E7
+
+
+
+ Status of key hardware
+ board voltage (mV)
+ I2C error count
+
+
+
+ Status generated by radio
+ local signal strength
+ remote signal strength
+ how full the tx buffer is as a percentage
+ background noise level
+ remote background noise level
+ receive errors
+ count of error corrected packets
+
+
+
+
+ Status of AP_Limits. Sent in extended status stream when AP_Limits is enabled
+ state of AP_Limits, (see enum LimitState, LIMITS_STATE)
+ time of last breach in milliseconds since boot
+ time of last recovery action in milliseconds since boot
+ time of last successful recovery in milliseconds since boot
+ time of last all-clear in milliseconds since boot
+ number of fence breaches
+ AP_Limit_Module bitfield of enabled modules, (see enum moduleid or LIMIT_MODULE)
+ AP_Limit_Module bitfield of required modules, (see enum moduleid or LIMIT_MODULE)
+ AP_Limit_Module bitfield of triggered modules, (see enum moduleid or LIMIT_MODULE)
+
+
+
+ Wind estimation
+ wind direction that wind is coming from (degrees)
+ wind speed in ground plane (m/s)
+ vertical wind speed (m/s)
+
+
+
+ Data packet, size 16
+ data type
+ data length
+ raw data
+
+
+
+ Data packet, size 32
+ data type
+ data length
+ raw data
+
+
+
+ Data packet, size 64
+ data type
+ data length
+ raw data
+
+
+
+ Data packet, size 96
+ data type
+ data length
+ raw data
+
+
+
+ Rangefinder reporting
+ distance in meters
+ raw voltage if available, zero otherwise
+
+
+
+ Airspeed auto-calibration
+ GPS velocity north m/s
+ GPS velocity east m/s
+ GPS velocity down m/s
+ Differential pressure pascals
+ Estimated to true airspeed ratio
+ Airspeed ratio
+ EKF state x
+ EKF state y
+ EKF state z
+ EKF Pax
+ EKF Pby
+ EKF Pcz
+
+
+
+
+ A rally point. Used to set a point when from GCS -> MAV. Also used to return a point from MAV -> GCS
+ System ID
+ Component ID
+ point index (first point is 0)
+ total number of points (for sanity checking)
+ Latitude of point in degrees * 1E7
+ Longitude of point in degrees * 1E7
+ Transit / loiter altitude in meters relative to home
+
+ Break altitude in meters relative to home
+ Heading to aim for when landing. In centi-degrees.
+ See RALLY_FLAGS enum for definition of the bitmask.
+
+
+
+ Request a current rally point from MAV. MAV should respond with a RALLY_POINT message. MAV should not respond if the request is invalid.
+ System ID
+ Component ID
+ point index (first point is 0)
+
+
+
+ Status of compassmot calibration
+ throttle (percent*10)
+ current (amps)
+ interference (percent)
+ Motor Compensation X
+ Motor Compensation Y
+ Motor Compensation Z
+
+
+
+
+ Status of secondary AHRS filter if available
+ Roll angle (rad)
+ Pitch angle (rad)
+ Yaw angle (rad)
+ Altitude (MSL)
+ Latitude in degrees * 1E7
+ Longitude in degrees * 1E7
+
+
+
+
+ Camera Event
+ Image timestamp (microseconds since UNIX epoch, according to camera clock)
+ System ID
+
+ Camera ID
+
+ Image index
+
+ See CAMERA_STATUS_TYPES enum for definition of the bitmask
+ Parameter 1 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
+ Parameter 2 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
+ Parameter 3 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
+ Parameter 4 (meaning depends on event, see CAMERA_STATUS_TYPES enum)
+
+
+
+
+ Camera Capture Feedback
+ Image timestamp (microseconds since UNIX epoch), as passed in by CAMERA_STATUS message (or autopilot if no CCB)
+ System ID
+
+ Camera ID
+
+ Image index
+
+ Latitude in (deg * 1E7)
+ Longitude in (deg * 1E7)
+ Altitude Absolute (meters AMSL)
+ Altitude Relative (meters above HOME location)
+ Camera Roll angle (earth frame, degrees, +-180)
+
+ Camera Pitch angle (earth frame, degrees, +-180)
+
+ Camera Yaw (earth frame, degrees, 0-360, true)
+
+ Focal Length (mm)
+
+ See CAMERA_FEEDBACK_FLAGS enum for definition of the bitmask
+
+
+
+
+ 2nd Battery status
+ voltage in millivolts
+ Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+
+
+
+ Status of third AHRS filter if available. This is for ANU research group (Ali and Sean)
+ Roll angle (rad)
+ Pitch angle (rad)
+ Yaw angle (rad)
+ Altitude (MSL)
+ Latitude in degrees * 1E7
+ Longitude in degrees * 1E7
+ test variable1
+ test variable2
+ test variable3
+ test variable4
+
+
+
+ Request the autopilot version from the system/component.
+ System ID
+ Component ID
+
+
+
+
+ Send a block of log data to remote location
+ System ID
+ Component ID
+ log data block sequence number
+ log data block
+
+
+
+ Send Status of each log block that autopilot board might have sent
+ System ID
+ Component ID
+ log data block sequence number
+ log data block status
+
+
+
+ Control vehicle LEDs
+ System ID
+ Component ID
+ Instance (LED instance to control or 255 for all LEDs)
+ Pattern (see LED_PATTERN_ENUM)
+ Custom Byte Length
+ Custom Bytes
+
+
+
+ Reports progress of compass calibration.
+ Compass being calibrated
+ Bitmask of compasses being calibrated
+ Status (see MAG_CAL_STATUS enum)
+ Attempt number
+ Completion percentage
+ Bitmask of sphere sections (see http://en.wikipedia.org/wiki/Geodesic_grid)
+ Body frame direction vector for display
+ Body frame direction vector for display
+ Body frame direction vector for display
+
+
+
+ Reports results of completed compass calibration. Sent until MAG_CAL_ACK received.
+ Compass being calibrated
+ Bitmask of compasses being calibrated
+ Status (see MAG_CAL_STATUS enum)
+ 0=requires a MAV_CMD_DO_ACCEPT_MAG_CAL, 1=saved to parameters
+ RMS milligauss residuals
+ X offset
+ Y offset
+ Z offset
+ X diagonal (matrix 11)
+ Y diagonal (matrix 22)
+ Z diagonal (matrix 33)
+ X off-diagonal (matrix 12 and 21)
+ Y off-diagonal (matrix 13 and 31)
+ Z off-diagonal (matrix 32 and 23)
+
+
+
+
+ EKF Status message including flags and variances
+ Flags
+
+ Velocity variance
+
+ Horizontal Position variance
+ Vertical Position variance
+ Compass variance
+ Terrain Altitude variance
+
+
+
+
+ PID tuning information
+ axis
+ desired rate (degrees/s)
+ achieved rate (degrees/s)
+ FF component
+ P component
+ I component
+ D component
+
+
+
+ 3 axis gimbal mesuraments
+ System ID
+ Component ID
+ Time since last update (seconds)
+ Delta angle X (radians)
+ Delta angle Y (radians)
+ Delta angle X (radians)
+ Delta velocity X (m/s)
+ Delta velocity Y (m/s)
+ Delta velocity Z (m/s)
+ Joint ROLL (radians)
+ Joint EL (radians)
+ Joint AZ (radians)
+
+
+
+ Control message for rate gimbal
+ System ID
+ Component ID
+ Demanded angular rate X (rad/s)
+ Demanded angular rate Y (rad/s)
+ Demanded angular rate Z (rad/s)
+
+
+
+ 100 Hz gimbal torque command telemetry
+ System ID
+ Component ID
+ Roll Torque Command
+ Elevation Torque Command
+ Azimuth Torque Command
+
+
+
+
+ Heartbeat from a HeroBus attached GoPro
+ Status
+ Current capture mode
+ additional status bits
+
+
+
+
+ Request a GOPRO_COMMAND response from the GoPro
+ System ID
+ Component ID
+ Command ID
+
+
+
+ Response from a GOPRO_COMMAND get request
+ Command ID
+ Status
+ Value
+
+
+
+ Request to set a GOPRO_COMMAND with a desired
+ System ID
+ Component ID
+ Command ID
+ Value
+
+
+
+ Response from a GOPRO_COMMAND set request
+ Command ID
+ Status
+
+
+
+
+ RPM sensor output
+ RPM Sensor1
+ RPM Sensor2
+
+
+
diff --git a/MAVLINK_msg/autoquad.xml b/MAVLINK_msg/autoquad.xml
new file mode 100644
index 0000000..8c22478
--- /dev/null
+++ b/MAVLINK_msg/autoquad.xml
@@ -0,0 +1,169 @@
+
+
+ common.xml
+ 3
+
+
+ Track current version of these definitions (can be used by checking value of AUTOQUAD_MAVLINK_DEFS_VERSION_ENUM_END). Append a new entry for each published change.
+
+
+
+ Available operating modes/statuses for AutoQuad flight controller.
+ Bitmask up to 32 bits. Low side bits for base modes, high side for
+ additional active features/modifiers/constraints.
+
+ System is initializing
+
+
+
+ System is *armed* and standing by, with no throttle input and no autonomous mode
+
+
+ Flying (throttle input detected), assumed under manual control unless other mode bits are set
+
+
+ Altitude hold engaged
+
+
+ Position hold engaged
+
+
+ Externally-guided (eg. GCS) navigation mode
+
+
+ Autonomous mission execution mode
+
+
+
+ Ready but *not armed*
+
+
+ Calibration mode active
+
+
+
+ No valid control input (eg. no radio link)
+
+
+ Battery is low (stage 1 warning)
+
+
+ Battery is depleted (stage 2 warning)
+
+
+
+ Dynamic Velocity Hold is active (PH with proportional manual direction override)
+
+
+ ynamic Altitude Override is active (AH with proportional manual adjustment)
+
+
+
+ Craft is at ceiling altitude
+
+
+ Ceiling altitude is set
+
+
+ Heading-Free dynamic mode active
+
+
+ Heading-Free locked mode active
+
+
+ Automatic Return to Home is active
+
+
+ System is in failsafe recovery mode
+
+
+
+
+ Orbit a waypoint.
+ Orbit radius in meters
+ Loiter time in decimal seconds
+ Maximum horizontal speed in m/s
+ Desired yaw angle at waypoint
+ Latitude
+ Longitude
+ Altitude
+
+
+ Start/stop AutoQuad telemetry values stream.
+ Start or stop (1 or 0)
+ Stream frequency in us
+ Dataset ID (refer to aq_mavlink.h::mavlinkCustomDataSets enum in AQ flight controller code)
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Request AutoQuad firmware version number.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+
+
+ Motor/ESC telemetry data.
+
+
+
+
+
+ Sends up to 20 raw float values.
+ Index of message
+ value1
+ value2
+ value3
+ value4
+ value5
+ value6
+ value7
+ value8
+ value9
+ value10
+ value11
+ value12
+ value13
+ value14
+ value15
+ value16
+ value17
+ value18
+ value19
+ value20
+
+
+ Sends ESC32 telemetry data for up to 4 motors. Multiple messages may be sent in sequence when system has > 4 motors. Data is described as follows:
+ // unsigned int state : 3;
+ // unsigned int vin : 12; // x 100
+ // unsigned int amps : 14; // x 100
+ // unsigned int rpm : 15;
+ // unsigned int duty : 8; // x (255/100)
+ // - Data Version 2 -
+ // unsigned int errors : 9; // Bad detects error count
+ // - Data Version 3 -
+ // unsigned int temp : 9; // (Deg C + 32) * 4
+ // unsigned int errCode : 3;
+
+ Timestamp of the component clock since boot time in ms.
+ Sequence number of message (first set of 4 motors is #1, next 4 is #2, etc).
+ Total number of active ESCs/motors on the system.
+ Number of active ESCs in this sequence (1 through this many array members will be populated with data)
+ ESC/Motor ID
+ Age of each ESC telemetry reading in ms compared to boot time. A value of 0xFFFF means timeout/no data.
+ Version of data structure (determines contents).
+ Data bits 1-32 for each ESC.
+ Data bits 33-64 for each ESC.
+
+
+
diff --git a/MAVLINK_msg/common.xml b/MAVLINK_msg/common.xml
new file mode 100644
index 0000000..7b043aa
--- /dev/null
+++ b/MAVLINK_msg/common.xml
@@ -0,0 +1,3440 @@
+
+
+ 3
+
+
+ Micro air vehicle / autopilot classes. This identifies the individual model.
+
+ Generic autopilot, full support for everything
+
+
+ Reserved for future use.
+
+
+ SLUGS autopilot, http://slugsuav.soe.ucsc.edu
+
+
+ ArduPilotMega / ArduCopter, http://diydrones.com
+
+
+ OpenPilot, http://openpilot.org
+
+
+ Generic autopilot only supporting simple waypoints
+
+
+ Generic autopilot supporting waypoints and other simple navigation commands
+
+
+ Generic autopilot supporting the full mission command set
+
+
+ No valid autopilot, e.g. a GCS or other MAVLink component
+
+
+ PPZ UAV - http://nongnu.org/paparazzi
+
+
+ UAV Dev Board
+
+
+ FlexiPilot
+
+
+ PX4 Autopilot - http://pixhawk.ethz.ch/px4/
+
+
+ SMACCMPilot - http://smaccmpilot.org
+
+
+ AutoQuad -- http://autoquad.org
+
+
+ Armazila -- http://armazila.com
+
+
+ Aerob -- http://aerob.ru
+
+
+ ASLUAV autopilot -- http://www.asl.ethz.ch
+
+
+
+
+ Generic micro air vehicle.
+
+
+ Fixed wing aircraft.
+
+
+ Quadrotor
+
+
+ Coaxial helicopter
+
+
+ Normal helicopter with tail rotor.
+
+
+ Ground installation
+
+
+ Operator control unit / ground control station
+
+
+ Airship, controlled
+
+
+ Free balloon, uncontrolled
+
+
+ Rocket
+
+
+ Ground rover
+
+
+ Surface vessel, boat, ship
+
+
+ Submarine
+
+
+ Hexarotor
+
+
+ Octorotor
+
+
+ Octorotor
+
+
+ Flapping wing
+
+
+ Flapping wing
+
+
+ Onboard companion controller
+
+
+ Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter.
+
+
+ Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter.
+
+
+ Tiltrotor VTOL
+
+
+
+ VTOL reserved 2
+
+
+ VTOL reserved 3
+
+
+ VTOL reserved 4
+
+
+ VTOL reserved 5
+
+
+ Onboard gimbal
+
+
+ Onboard ADSB peripheral
+
+
+
+ These values define the type of firmware release. These values indicate the first version or release of this type. For example the first alpha release would be 64, the second would be 65.
+
+ development release
+
+
+ alpha release
+
+
+ beta release
+
+
+ release candidate
+
+
+ official stable release
+
+
+
+
+ These flags encode the MAV mode.
+
+ 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.
+
+
+ 0b01000000 remote control input is enabled.
+
+
+ 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
+
+
+ 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
+
+
+ 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
+
+
+ 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
+
+
+ 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
+
+
+ 0b00000001 Reserved for future use.
+
+
+
+ These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.
+
+ First bit: 10000000
+
+
+ Second bit: 01000000
+
+
+ Third bit: 00100000
+
+
+ Fourth bit: 00010000
+
+
+ Fifth bit: 00001000
+
+
+ Sixt bit: 00000100
+
+
+ Seventh bit: 00000010
+
+
+ Eighth bit: 00000001
+
+
+
+ Override command, pauses current mission execution and moves immediately to a position
+
+ Hold at the current position.
+
+
+ Continue with the next item in mission execution.
+
+
+ Hold at the current position of the system
+
+
+ Hold at the position specified in the parameters of the DO_HOLD action
+
+
+
+ These defines are predefined OR-combined mode flags. There is no need to use values from this enum, but it
+ simplifies the use of the mode flags. Note that manual input is enabled in all modes as a safety override.
+
+ System is not ready to fly, booting, calibrating, etc. No flag is set.
+
+
+ System is allowed to be active, under assisted RC control.
+
+
+ System is allowed to be active, under assisted RC control.
+
+
+ System is allowed to be active, under manual (RC) control, no stabilization
+
+
+ System is allowed to be active, under manual (RC) control, no stabilization
+
+
+ System is allowed to be active, under autonomous control, manual setpoint
+
+
+ System is allowed to be active, under autonomous control, manual setpoint
+
+
+ System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)
+
+
+ System is allowed to be active, under autonomous control and navigation (the trajectory is decided onboard and not pre-programmed by MISSIONs)
+
+
+ UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
+
+
+ UNDEFINED mode. This solely depends on the autopilot - use with caution, intended for developers only.
+
+
+
+
+ Uninitialized system, state is unknown.
+
+
+ System is booting up.
+
+
+ System is calibrating and not flight-ready.
+
+
+ System is grounded and on standby. It can be launched any time.
+
+
+ System is active and might be already airborne. Motors are engaged.
+
+
+ System is in a non-normal flight mode. It can however still navigate.
+
+
+ System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
+
+
+ System just initialized its power-down sequence, will shut down now.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ On Screen Display (OSD) devices for video links
+
+
+ Generic autopilot peripheral component ID. Meant for devices that do not implement the parameter sub-protocol
+
+
+
+ These encode the sensors whose status is sent as part of the SYS_STATUS message.
+
+ 0x01 3D gyro
+
+
+ 0x02 3D accelerometer
+
+
+ 0x04 3D magnetometer
+
+
+ 0x08 absolute pressure
+
+
+ 0x10 differential pressure
+
+
+ 0x20 GPS
+
+
+ 0x40 optical flow
+
+
+ 0x80 computer vision position
+
+
+ 0x100 laser based position
+
+
+ 0x200 external ground truth (Vicon or Leica)
+
+
+ 0x400 3D angular rate control
+
+
+ 0x800 attitude stabilization
+
+
+ 0x1000 yaw position
+
+
+ 0x2000 z/altitude control
+
+
+ 0x4000 x/y position control
+
+
+ 0x8000 motor outputs / control
+
+
+ 0x10000 rc receiver
+
+
+ 0x20000 2nd 3D gyro
+
+
+ 0x40000 2nd 3D accelerometer
+
+
+ 0x80000 2nd 3D magnetometer
+
+
+ 0x100000 geofence
+
+
+ 0x200000 AHRS subsystem health
+
+
+ 0x400000 Terrain subsystem health
+
+
+ 0x800000 Motors are reversed
+
+
+
+
+ Global coordinate frame, WGS84 coordinate system. First value / x: latitude, second value / y: longitude, third value / z: positive altitude over mean sea level (MSL)
+
+
+ Local coordinate frame, Z-up (x: north, y: east, z: down).
+
+
+ NOT a coordinate frame, indicates a mission command.
+
+
+ Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude, second value / y: longitude, third value / z: positive altitude with 0 being at the altitude of the home location.
+
+
+ Local coordinate frame, Z-down (x: east, y: north, z: up)
+
+
+ Global coordinate frame, WGS84 coordinate system. First value / x: latitude in degrees*1.0e-7, second value / y: longitude in degrees*1.0e-7, third value / z: positive altitude over mean sea level (MSL)
+
+
+ Global coordinate frame, WGS84 coordinate system, relative altitude over ground with respect to the home position. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude with 0 being at the altitude of the home location.
+
+
+ Offset to the current local frame. Anything expressed in this frame should be added to the current local frame position.
+
+
+ Setpoint in body NED frame. This makes sense if all position control is externalized - e.g. useful to command 2 m/s^2 acceleration to the right.
+
+
+ Offset in body NED frame. This makes sense if adding setpoints to the current flight path, to avoid an obstacle - e.g. useful to command 2 m/s^2 acceleration to the east.
+
+
+ Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees, second value / y: longitude in degrees, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
+
+
+ Global coordinate frame with above terrain level altitude. WGS84 coordinate system, relative altitude over terrain with respect to the waypoint coordinate. First value / x: latitude in degrees*10e-7, second value / y: longitude in degrees*10e-7, third value / z: positive altitude in meters with 0 being at ground level in terrain model.
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ Disable fenced mode
+
+
+ Switched to guided mode to return point (fence point 0)
+
+
+ Report fence breach, but don't take action
+
+
+ Switched to guided mode to return point (fence point 0) with manual throttle control
+
+
+
+
+
+ No last fence breach
+
+
+ Breached minimum altitude
+
+
+ Breached maximum altitude
+
+
+ Breached fence boundary
+
+
+
+
+ Enumeration of possible mount operation modes
+ Load and keep safe position (Roll,Pitch,Yaw) from permant memory and stop stabilization
+ Load and keep neutral position (Roll,Pitch,Yaw) from permanent memory.
+ Load neutral position and start MAVLink Roll,Pitch,Yaw control with stabilization
+ Load neutral position and start RC Roll,Pitch,Yaw control with stabilization
+ Load neutral position and start to point to Lat,Lon,Alt
+
+
+ Commands to be executed by the MAV. They can be executed on user request, or as part of a mission script. If the action is used in a mission, the parameter mapping to the waypoint/mission message is as follows: Param 1, Param 2, Param 3, Param 4, X: Param 5, Y:Param 6, Z:Param 7. This command list is similar what ARINC 424 is for commercial aircraft: A data format how to interpret waypoint/mission data.
+
+ Navigate to MISSION.
+ Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)
+ Acceptance radius in meters (if the sphere with this radius is hit, the MISSION counts as reached)
+ 0 to pass through the WP, if > 0 radius in meters to pass by WP. Positive value for clockwise orbit, negative value for counter-clockwise orbit. Allows trajectory control.
+ Desired yaw angle at MISSION (rotary wing)
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this MISSION an unlimited amount of time
+ Empty
+ Empty
+ Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
+ Desired yaw angle.
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this MISSION for X turns
+ Turns
+ Empty
+ Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle
+ Latitude
+ Longitude
+ Altitude
+
+
+ Loiter around this MISSION for X seconds
+ Seconds (decimal)
+ Empty
+ Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location. Else, this is desired yaw angle
+ Latitude
+ Longitude
+ Altitude
+
+
+ Return to launch location
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Land at location
+ Abort Alt
+ Empty
+ Empty
+ Desired yaw angle
+ Latitude
+ Longitude
+ Altitude
+
+
+ Takeoff from ground / hand
+ Minimum pitch (if airspeed sensor present), desired pitch without sensor
+ Empty
+ Empty
+ Yaw angle (if magnetometer present), ignored without magnetometer
+ Latitude
+ Longitude
+ Altitude
+
+
+ Land at local position (local frame only)
+ Landing target number (if available)
+ Maximum accepted offset from desired landing position [m] - computed magnitude from spherical coordinates: d = sqrt(x^2 + y^2 + z^2), which gives the maximum accepted distance between the desired landing position and the position where the vehicle is about to land
+ Landing descend rate [ms^-1]
+ Desired yaw angle [rad]
+ Y-axis position [m]
+ X-axis position [m]
+ Z-axis / ground level position [m]
+
+
+ Takeoff from local position (local frame only)
+ Minimum pitch (if airspeed sensor present), desired pitch without sensor [rad]
+ Empty
+ Takeoff ascend rate [ms^-1]
+ Yaw angle [rad] (if magnetometer or another yaw estimation source present), ignored without one of these
+ Y-axis position [m]
+ X-axis position [m]
+ Z-axis position [m]
+
+
+ Vehicle following, i.e. this waypoint represents the position of a moving vehicle
+ Following logic to use (e.g. loitering or sinusoidal following) - depends on specific autopilot implementation
+ Ground speed of vehicle to be followed
+ Radius around MISSION, in meters. If positive loiter clockwise, else counter-clockwise
+ Desired yaw angle.
+ Latitude
+ Longitude
+ Altitude
+
+
+ Continue on the current course and climb/descend to specified altitude. When the altitude is reached continue to the next command (i.e., don't proceed to the next command until the desired altitude is reached.
+ Climb or Descend (0 = Neutral, command completes when within 5m of this command's altitude, 1 = Climbing, command completes when at or above this command's altitude, 2 = Descending, command completes when at or below this command's altitude.
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Desired altitude in meters
+
+
+ Begin loiter at the specified Latitude and Longitude. If Lat=Lon=0, then loiter at the current position. Don't consider the navigation command complete (don't leave loiter) until the altitude has been reached. Additionally, if the Heading Required parameter is non-zero the aircraft will not leave the loiter until heading toward the next waypoint.
+ Heading Required (0 = False)
+ Radius in meters. If positive loiter clockwise, negative counter-clockwise, 0 means no change to standard loiter.
+ Empty
+ Forward moving aircraft this sets exit xtrack location: 0 for center of loiter wp, 1 for exit location
+ Latitude
+ Longitude
+ Altitude
+
+
+ Being following a target
+ System ID (the system ID of the FOLLOW_TARGET beacon). Send 0 to disable follow-me and return to the default position hold mode
+ RESERVED
+ RESERVED
+ altitude flag: 0: Keep current altitude, 1: keep altitude difference to target, 2: go to a fixed altitude above home
+ altitude
+ RESERVED
+ TTL in seconds in which the MAV should go to the default position hold mode after a message rx timeout
+
+
+ Reposition the MAV after a follow target command has been sent
+ Camera q1 (where 0 is on the ray from the camera to the tracking device)
+ Camera q2
+ Camera q3
+ Camera q4
+ altitude offset from target (m)
+ X offset from target (m)
+ Y offset from target (m)
+
+
+ Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
+ Region of intereset mode. (see MAV_ROI enum)
+ MISSION index/ target ID. (see MAV_ROI enum)
+ ROI index (allows a vehicle to manage multiple ROI's)
+ Empty
+ x the location of the fixed ROI (see MAV_FRAME)
+ y
+ z
+
+
+ Control autonomous path planning on the MAV.
+ 0: Disable local obstacle avoidance / local path planning (without resetting map), 1: Enable local path planning, 2: Enable and reset local path planning
+ 0: Disable full path planning (without resetting map), 1: Enable, 2: Enable and reset map/occupancy grid, 3: Enable and reset planned route, but not occupancy grid
+ Empty
+ Yaw angle at goal, in compass degrees, [0..360]
+ Latitude/X of goal
+ Longitude/Y of goal
+ Altitude/Z of goal
+
+
+ Navigate to MISSION using a spline path.
+ Hold time in decimal seconds. (ignored by fixed wing, time to stay at MISSION for rotary wing)
+ Empty
+ Empty
+ Empty
+ Latitude/X of goal
+ Longitude/Y of goal
+ Altitude/Z of goal
+
+
+ Takeoff from ground using VTOL mode
+ Empty
+ Empty
+ Empty
+ Yaw angle in degrees
+ Latitude
+ Longitude
+ Altitude
+
+
+ Land using VTOL mode
+ Empty
+ Empty
+ Empty
+ Yaw angle in degrees
+ Latitude
+ Longitude
+ Altitude
+
+
+
+
+
+ hand control over to an external controller
+ On / Off (> 0.5f on)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Delay the next navigation command a number of seconds or until a specified time
+ Delay in seconds (decimal, -1 to enable time-of-day fields)
+ hour (24h format, UTC, -1 to ignore)
+ minute (24h format, UTC, -1 to ignore)
+ second (24h format, UTC)
+ Empty
+ Empty
+ Empty
+
+
+ NOP - This command is only used to mark the upper limit of the NAV/ACTION commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Delay mission state machine.
+ Delay in seconds (decimal)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Ascend/descend at rate. Delay mission state machine until desired altitude reached.
+ Descent / Ascend rate (m/s)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Finish Altitude
+
+
+ Delay mission state machine until within desired distance of next NAV point.
+ Distance (meters)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Reach a certain target angle.
+ target angle: [0-360], 0 is north
+ speed during yaw change:[deg per second]
+ direction: negative: counter clockwise, positive: clockwise [-1,1]
+ relative offset or absolute angle: [ 1,0]
+ Empty
+ Empty
+ Empty
+
+
+ NOP - This command is only used to mark the upper limit of the CONDITION commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set system mode.
+ Mode, as defined by ENUM MAV_MODE
+ Custom mode - this is system specific, please refer to the individual autopilot specifications for details.
+ Custom sub mode - this is system specific, please refer to the individual autopilot specifications for details.
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Jump to the desired command in the mission list. Repeat this action only the specified number of times
+ Sequence number
+ Repeat count
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Change speed and/or throttle set points.
+ Speed type (0=Airspeed, 1=Ground Speed)
+ Speed (m/s, -1 indicates no change)
+ Throttle ( Percent, -1 indicates no change)
+ absolute or relative [0,1]
+ Empty
+ Empty
+ Empty
+
+
+ Changes the home location either to the current location or a specified location.
+ Use current (1=use current location, 0=use specified location)
+ Empty
+ Empty
+ Empty
+ Latitude
+ Longitude
+ Altitude
+
+
+ Set a system parameter. Caution! Use of this command requires knowledge of the numeric enumeration value of the parameter.
+ Parameter number
+ Parameter value
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set a relay to a condition.
+ Relay number
+ Setting (1=on, 0=off, others possible depending on system hardware)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Cycle a relay on and off for a desired number of cyles with a desired period.
+ Relay number
+ Cycle count
+ Cycle time (seconds, decimal)
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Set a servo to a desired PWM value.
+ Servo number
+ PWM (microseconds, 1000 to 2000 typical)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Cycle a between its nominal setting and a desired PWM for a desired number of cycles with a desired period.
+ Servo number
+ PWM (microseconds, 1000 to 2000 typical)
+ Cycle count
+ Cycle time (seconds)
+ Empty
+ Empty
+ Empty
+
+
+ Terminate flight immediately
+ Flight termination activated if > 0.5
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to perform a landing. This is used as a marker in a mission to tell the autopilot where a sequence of mission items that represents a landing starts. It may also be sent via a COMMAND_LONG to trigger a landing, in which case the nearest (geographically) landing sequence in the mission will be used. The Latitude/Longitude is optional, and may be set to 0/0 if not needed. If specified then it will be used to help find the closest landing sequence.
+ Empty
+ Empty
+ Empty
+ Empty
+ Latitude
+ Longitude
+ Empty
+
+
+ Mission command to perform a landing from a rally point.
+ Break altitude (meters)
+ Landing speed (m/s)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Mission command to safely abort an autonmous landing.
+ Altitude (meters)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Reposition the vehicle to a specific WGS84 global position.
+ Ground speed, less than 0 (-1) for default
+ Bitmask of option flags, see the MAV_DO_REPOSITION_FLAGS enum.
+ Reserved
+ Yaw heading, NaN for unchanged. For planes indicates loiter direction (0: clockwise, 1: counter clockwise)
+ Latitude (deg * 1E7)
+ Longitude (deg * 1E7)
+ Altitude (meters)
+
+
+ If in a GPS controlled position mode, hold the current position or continue.
+ 0: Pause current mission or reposition command, hold current position. 1: Continue mission. A VTOL capable vehicle should enter hover mode (multicopter and VTOL planes). A plane should loiter with the default loiter radius.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Control onboard camera system.
+ Camera ID (-1 for all)
+ Transmission: 0: disabled, 1: enabled compressed, 2: enabled raw
+ Transmission mode: 0: video stream, >0: single images every n seconds (decimal)
+ Recording: 0: disabled, 1: enabled compressed, 2: enabled raw
+ Empty
+ Empty
+ Empty
+
+
+ Sets the region of interest (ROI) for a sensor set or the vehicle itself. This can then be used by the vehicles control system to control the vehicle attitude and the attitude of various sensors such as cameras.
+ Region of intereset mode. (see MAV_ROI enum)
+ MISSION index/ target ID. (see MAV_ROI enum)
+ ROI index (allows a vehicle to manage multiple ROI's)
+ Empty
+ x the location of the fixed ROI (see MAV_FRAME)
+ y
+ z
+
+
+
+
+ Mission command to configure an on-board camera controller system.
+ Modes: P, TV, AV, M, Etc
+ Shutter speed: Divisor number for one second
+ Aperture: F stop number
+ ISO number e.g. 80, 100, 200, Etc
+ Exposure type enumerator
+ Command Identity
+ Main engine cut-off time before camera trigger in seconds/10 (0 means no cut-off)
+
+
+
+ Mission command to control an on-board camera controller system.
+ Session control e.g. show/hide lens
+ Zoom's absolute position
+ Zooming step value to offset zoom from the current position
+ Focus Locking, Unlocking or Re-locking
+ Shooting Command
+ Command Identity
+ Empty
+
+
+
+
+ Mission command to configure a camera or antenna mount
+ Mount operation mode (see MAV_MOUNT_MODE enum)
+ stabilize roll? (1 = yes, 0 = no)
+ stabilize pitch? (1 = yes, 0 = no)
+ stabilize yaw? (1 = yes, 0 = no)
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to control a camera or antenna mount
+ pitch or lat in degrees, depending on mount mode.
+ roll or lon in degrees depending on mount mode
+ yaw or alt (in meters) depending on mount mode
+ reserved
+ reserved
+ reserved
+ MAV_MOUNT_MODE enum value
+
+
+
+ Mission command to set CAM_TRIGG_DIST for this flight
+ Camera trigger distance (meters)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to enable the geofence
+ enable? (0=disable, 1=enable, 2=disable_floor_only)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to trigger a parachute
+ action (0=disable, 1=enable, 2=release, for some systems see PARACHUTE_ACTION enum, not in general message set.)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Change to/from inverted flight
+ inverted (0=normal, 1=inverted)
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ Mission command to control a camera or antenna mount, using a quaternion as reference.
+ q1 - quaternion param #1, w (1 in null-rotation)
+ q2 - quaternion param #2, x (0 in null-rotation)
+ q3 - quaternion param #3, y (0 in null-rotation)
+ q4 - quaternion param #4, z (0 in null-rotation)
+ Empty
+ Empty
+ Empty
+
+
+
+ set id of master controller
+ System ID
+ Component ID
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+ set limits for external control
+ timeout - maximum time (in seconds) that external controller will be allowed to control vehicle. 0 means no timeout
+ absolute altitude min (in meters, AMSL) - if vehicle moves below this alt, the command will be aborted and the mission will continue. 0 means no lower altitude limit
+ absolute altitude max (in meters)- if vehicle moves above this alt, the command will be aborted and the mission will continue. 0 means no upper altitude limit
+ horizontal move limit (in meters, AMSL) - if vehicle moves more than this distance from it's location at the moment the command was executed, the command will be aborted and the mission will continue. 0 means no horizontal altitude limit
+ Empty
+ Empty
+ Empty
+
+
+
+ NOP - This command is only used to mark the upper limit of the DO commands in the enumeration
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+ Trigger calibration. This command will be only accepted if in pre-flight mode.
+ Gyro calibration: 0: no, 1: yes
+ Magnetometer calibration: 0: no, 1: yes
+ Ground pressure: 0: no, 1: yes
+ Radio calibration: 0: no, 1: yes
+ Accelerometer calibration: 0: no, 1: yes
+ Compass/Motor interference calibration: 0: no, 1: yes
+ Empty
+
+
+ Set sensor offsets. This command will be only accepted if in pre-flight mode.
+ Sensor to adjust the offsets for: 0: gyros, 1: accelerometer, 2: magnetometer, 3: barometer, 4: optical flow, 5: second magnetometer
+ X axis offset (or generic dimension 1), in the sensor's raw units
+ Y axis offset (or generic dimension 2), in the sensor's raw units
+ Z axis offset (or generic dimension 3), in the sensor's raw units
+ Generic dimension 4, in the sensor's raw units
+ Generic dimension 5, in the sensor's raw units
+ Generic dimension 6, in the sensor's raw units
+
+
+ Trigger UAVCAN config. This command will be only accepted if in pre-flight mode.
+ 1: Trigger actuator ID assignment and direction mapping.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.
+ Parameter storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults
+ Mission storage: 0: READ FROM FLASH/EEPROM, 1: WRITE CURRENT TO FLASH/EEPROM, 2: Reset to defaults
+ Onboard logging: 0: Ignore, 1: Start default rate logging, -1: Stop logging, > 1: start logging with rate of param 3 in Hz (e.g. set to 1000 for 1000 Hz logging)
+ Reserved
+ Empty
+ Empty
+ Empty
+
+
+ Request the reboot or shutdown of system components.
+ 0: Do nothing for autopilot, 1: Reboot autopilot, 2: Shutdown autopilot, 3: Reboot autopilot and keep it in the bootloader until upgraded.
+ 0: Do nothing for onboard computer, 1: Reboot onboard computer, 2: Shutdown onboard computer, 3: Reboot onboard computer and keep it in the bootloader until upgraded.
+ Reserved, send 0
+ Reserved, send 0
+ Reserved, send 0
+ Reserved, send 0
+ Reserved, send 0
+
+
+ Hold / continue the current action
+ MAV_GOTO_DO_HOLD: hold MAV_GOTO_DO_CONTINUE: continue with next item in mission plan
+ MAV_GOTO_HOLD_AT_CURRENT_POSITION: Hold at current position MAV_GOTO_HOLD_AT_SPECIFIED_POSITION: hold at specified position
+ MAV_FRAME coordinate frame of hold point
+ Desired yaw angle in degrees
+ Latitude / X position
+ Longitude / Y position
+ Altitude / Z position
+
+
+ start running a mission
+ first_item: the first mission item to run
+ last_item: the last mission item to run (after this item is run, the mission ends)
+
+
+ Arms / Disarms a component
+ 1 to arm, 0 to disarm
+
+
+ Request the home position from the vehicle.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+ Starts receiver pairing
+ 0:Spektrum
+ 0:Spektrum DSM2, 1:Spektrum DSMX
+
+
+ Request the interval between messages for a particular MAVLink message ID
+ The MAVLink message ID
+
+
+ Request the interval between messages for a particular MAVLink message ID. This interface replaces REQUEST_DATA_STREAM
+ The MAVLink message ID
+ The interval between two messages, in microseconds. Set to -1 to disable and 0 to request default rate.
+
+
+ Request autopilot capabilities
+ 1: Request autopilot version
+ Reserved (all remaining params)
+
+
+ Start image capture sequence
+ Duration between two consecutive pictures (in seconds)
+ Number of images to capture total - 0 for unlimited capture
+ Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)
+
+
+
+ Stop image capture sequence
+ Reserved
+ Reserved
+
+
+
+ Enable or disable on-board camera triggering system.
+ Trigger enable/disable (0 for disable, 1 for start)
+ Shutter integration time (in ms)
+ Reserved
+
+
+
+ Starts video capture
+ Camera ID (0 for all cameras), 1 for first, 2 for second, etc.
+ Frames per second
+ Resolution in megapixels (0.3 for 640x480, 1.3 for 1280x720, etc)
+
+
+
+ Stop the current video capture
+ Reserved
+ Reserved
+
+
+
+ Create a panorama at the current position
+ Viewing angle horizontal of the panorama (in degrees, +- 0.5 the total angle)
+ Viewing angle vertical of panorama (in degrees)
+ Speed of the horizontal rotation (in degrees per second)
+ Speed of the vertical rotation (in degrees per second)
+
+
+
+ Request VTOL transition
+ The target VTOL state, as defined by ENUM MAV_VTOL_STATE. Only MAV_VTOL_STATE_MC and MAV_VTOL_STATE_FW can be used.
+
+
+
+
+
+
+ Deploy payload on a Lat / Lon / Alt position. This includes the navigation to reach the required release position and velocity.
+ Operation mode. 0: prepare single payload deploy (overwriting previous requests), but do not execute it. 1: execute payload deploy immediately (rejecting further deploy commands during execution, but allowing abort). 2: add payload deploy to existing deployment list.
+ Desired approach vector in degrees compass heading (0..360). A negative value indicates the system can define the approach vector at will.
+ Desired ground speed at release time. This can be overriden by the airframe in case it needs to meet minimum airspeed. A negative value indicates the system can define the ground speed at will.
+ Minimum altitude clearance to the release position in meters. A negative value indicates the system can define the clearance at will.
+ Latitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT
+ Longitude unscaled for MISSION_ITEM or in 1e7 degrees for MISSION_ITEM_INT
+ Altitude, in meters AMSL
+
+
+ Control the payload deployment.
+ Operation mode. 0: Abort deployment, continue normal mission. 1: switch to payload deploment mode. 100: delete first payload deployment request. 101: delete all payload deployment requests.
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+ Reserved
+
+
+
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined waypoint item. Ground Station will show the Vehicle as flying through this item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined spatial item. Ground Station will not show the Vehicle as flying through this item. Example: ROI item.
+ User defined
+ User defined
+ User defined
+ User defined
+ Latitude unscaled
+ Longitude unscaled
+ Altitude, in meters AMSL
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+ User defined command. Ground Station will not show the Vehicle as flying through this item. Example: MAV_CMD_DO_SET_PARAMETER item.
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+ User defined
+
+
+
+
+ THIS INTERFACE IS DEPRECATED AS OF JULY 2015. Please use MESSAGE_INTERVAL instead. A data stream is not a fixed set of messages, but rather a
+ recommendation to the autopilot software. Individual autopilots may or may not obey
+ the recommended messages.
+
+ Enable all data streams
+
+
+ Enable IMU_RAW, GPS_RAW, GPS_STATUS packets.
+
+
+ Enable GPS_STATUS, CONTROL_STATUS, AUX_STATUS
+
+
+ Enable RC_CHANNELS_SCALED, RC_CHANNELS_RAW, SERVO_OUTPUT_RAW
+
+
+ Enable ATTITUDE_CONTROLLER_OUTPUT, POSITION_CONTROLLER_OUTPUT, NAV_CONTROLLER_OUTPUT.
+
+
+ Enable LOCAL_POSITION, GLOBAL_POSITION/GLOBAL_POSITION_INT messages.
+
+
+ Dependent on the autopilot
+
+
+ Dependent on the autopilot
+
+
+ Dependent on the autopilot
+
+
+
+ The ROI (region of interest) for the vehicle. This can be
+ be used by the vehicle for camera/vehicle attitude alignment (see
+ MAV_CMD_NAV_ROI).
+
+ No region of interest.
+
+
+ Point toward next MISSION.
+
+
+ Point toward given MISSION.
+
+
+ Point toward fixed location.
+
+
+ Point toward of given id.
+
+
+
+ ACK / NACK / ERROR values as a result of MAV_CMDs and for mission item transmission.
+
+ Command / mission item is ok.
+
+
+ Generic error message if none of the other reasons fails or if no detailed error reporting is implemented.
+
+
+ The system is refusing to accept this command from this source / communication partner.
+
+
+ Command or mission item is not supported, other commands would be accepted.
+
+
+ The coordinate frame of this command / mission item is not supported.
+
+
+ The coordinate frame of this command is ok, but he coordinate values exceed the safety limits of this system. This is a generic error, please use the more specific error messages below if possible.
+
+
+ The X or latitude value is out of range.
+
+
+ The Y or longitude value is out of range.
+
+
+ The Z or altitude value is out of range.
+
+
+
+ Specifies the datatype of a MAVLink parameter.
+
+ 8-bit unsigned integer
+
+
+ 8-bit signed integer
+
+
+ 16-bit unsigned integer
+
+
+ 16-bit signed integer
+
+
+ 32-bit unsigned integer
+
+
+ 32-bit signed integer
+
+
+ 64-bit unsigned integer
+
+
+ 64-bit signed integer
+
+
+ 32-bit floating-point
+
+
+ 64-bit floating-point
+
+
+
+ result from a mavlink command
+
+ Command ACCEPTED and EXECUTED
+
+
+ Command TEMPORARY REJECTED/DENIED
+
+
+ Command PERMANENTLY DENIED
+
+
+ Command UNKNOWN/UNSUPPORTED
+
+
+ Command executed, but failed
+
+
+
+ result in a mavlink mission ack
+
+ mission accepted OK
+
+
+ generic error / not accepting mission commands at all right now
+
+
+ coordinate frame is not supported
+
+
+ command is not supported
+
+
+ mission item exceeds storage space
+
+
+ one of the parameters has an invalid value
+
+
+ param1 has an invalid value
+
+
+ param2 has an invalid value
+
+
+ param3 has an invalid value
+
+
+ param4 has an invalid value
+
+
+ x/param5 has an invalid value
+
+
+ y/param6 has an invalid value
+
+
+ param7 has an invalid value
+
+
+ received waypoint out of sequence
+
+
+ not accepting any mission commands from this communication partner
+
+
+
+ Indicates the severity level, generally used for status messages to indicate their relative urgency. Based on RFC-5424 using expanded definitions at: http://www.kiwisyslog.com/kb/info:-syslog-message-levels/.
+
+ System is unusable. This is a "panic" condition.
+
+
+ Action should be taken immediately. Indicates error in non-critical systems.
+
+
+ Action must be taken immediately. Indicates failure in a primary system.
+
+
+ Indicates an error in secondary/redundant systems.
+
+
+ Indicates about a possible future error if this is not resolved within a given timeframe. Example would be a low battery warning.
+
+
+ An unusual event has occured, though not an error condition. This should be investigated for the root cause.
+
+
+ Normal operational messages. Useful for logging. No action is required for these messages.
+
+
+ Useful non-operational messages that can assist in debugging. These should not occur during normal operation.
+
+
+
+ Power supply status flags (bitmask)
+
+ main brick power supply valid
+
+
+ main servo power supply valid for FMU
+
+
+ USB power is connected
+
+
+ peripheral supply is in over-current state
+
+
+ hi-power peripheral supply is in over-current state
+
+
+ Power status has changed since boot
+
+
+
+ SERIAL_CONTROL device types
+
+ First telemetry port
+
+
+ Second telemetry port
+
+
+ First GPS port
+
+
+ Second GPS port
+
+
+ system shell
+
+
+
+ SERIAL_CONTROL flags (bitmask)
+
+ Set if this is a reply
+
+
+ Set if the sender wants the receiver to send a response as another SERIAL_CONTROL message
+
+
+ Set if access to the serial port should be removed from whatever driver is currently using it, giving exclusive access to the SERIAL_CONTROL protocol. The port can be handed back by sending a request without this flag set
+
+
+ Block on writes to the serial port
+
+
+ Send multiple replies until port is drained
+
+
+
+ Enumeration of distance sensor types
+
+ Laser rangefinder, e.g. LightWare SF02/F or PulsedLight units
+
+
+ Ultrasound rangefinder, e.g. MaxBotix units
+
+
+ Infrared rangefinder, e.g. Sharp units
+
+
+
+ Enumeration of sensor orientation, according to its rotations
+
+ Roll: 0, Pitch: 0, Yaw: 0
+
+
+ Roll: 0, Pitch: 0, Yaw: 45
+
+
+ Roll: 0, Pitch: 0, Yaw: 90
+
+
+ Roll: 0, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 0, Yaw: 180
+
+
+ Roll: 0, Pitch: 0, Yaw: 225
+
+
+ Roll: 0, Pitch: 0, Yaw: 270
+
+
+ Roll: 0, Pitch: 0, Yaw: 315
+
+
+ Roll: 180, Pitch: 0, Yaw: 0
+
+
+ Roll: 180, Pitch: 0, Yaw: 45
+
+
+ Roll: 180, Pitch: 0, Yaw: 90
+
+
+ Roll: 180, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 180, Yaw: 0
+
+
+ Roll: 180, Pitch: 0, Yaw: 225
+
+
+ Roll: 180, Pitch: 0, Yaw: 270
+
+
+ Roll: 180, Pitch: 0, Yaw: 315
+
+
+ Roll: 90, Pitch: 0, Yaw: 0
+
+
+ Roll: 90, Pitch: 0, Yaw: 45
+
+
+ Roll: 90, Pitch: 0, Yaw: 90
+
+
+ Roll: 90, Pitch: 0, Yaw: 135
+
+
+ Roll: 270, Pitch: 0, Yaw: 0
+
+
+ Roll: 270, Pitch: 0, Yaw: 45
+
+
+ Roll: 270, Pitch: 0, Yaw: 90
+
+
+ Roll: 270, Pitch: 0, Yaw: 135
+
+
+ Roll: 0, Pitch: 90, Yaw: 0
+
+
+ Roll: 0, Pitch: 270, Yaw: 0
+
+
+ Roll: 0, Pitch: 180, Yaw: 90
+
+
+ Roll: 0, Pitch: 180, Yaw: 270
+
+
+ Roll: 90, Pitch: 90, Yaw: 0
+
+
+ Roll: 180, Pitch: 90, Yaw: 0
+
+
+ Roll: 270, Pitch: 90, Yaw: 0
+
+
+ Roll: 90, Pitch: 180, Yaw: 0
+
+
+ Roll: 270, Pitch: 180, Yaw: 0
+
+
+ Roll: 90, Pitch: 270, Yaw: 0
+
+
+ Roll: 180, Pitch: 270, Yaw: 0
+
+
+ Roll: 270, Pitch: 270, Yaw: 0
+
+
+ Roll: 90, Pitch: 180, Yaw: 90
+
+
+ Roll: 90, Pitch: 0, Yaw: 270
+
+
+ Roll: 315, Pitch: 315, Yaw: 315
+
+
+
+ Bitmask of (optional) autopilot capabilities (64 bit). If a bit is set, the autopilot supports this capability.
+
+ Autopilot supports MISSION float message type.
+
+
+ Autopilot supports the new param float message type.
+
+
+ Autopilot supports MISSION_INT scaled integer message type.
+
+
+ Autopilot supports COMMAND_INT scaled integer message type.
+
+
+ Autopilot supports the new param union message type.
+
+
+ Autopilot supports the new FILE_TRANSFER_PROTOCOL message type.
+
+
+ Autopilot supports commanding attitude offboard.
+
+
+ Autopilot supports commanding position and velocity targets in local NED frame.
+
+
+ Autopilot supports commanding position and velocity targets in global scaled integers.
+
+
+ Autopilot supports terrain protocol / data handling.
+
+
+ Autopilot supports direct actuator control.
+
+
+ Autopilot supports the flight termination command.
+
+
+ Autopilot supports onboard compass calibration.
+
+
+
+ Enumeration of estimator types
+
+ This is a naive estimator without any real covariance feedback.
+
+
+ Computer vision based estimate. Might be up to scale.
+
+
+ Visual-inertial estimate.
+
+
+ Plain GPS estimate.
+
+
+ Estimator integrating GPS and inertial sensing.
+
+
+
+ Enumeration of battery types
+
+ Not specified.
+
+
+ Lithium polymer battery
+
+
+ Lithium-iron-phosphate battery
+
+
+ Lithium-ION battery
+
+
+ Nickel metal hydride battery
+
+
+
+ Enumeration of battery functions
+
+ Battery function is unknown
+
+
+ Battery supports all flight systems
+
+
+ Battery for the propulsion system
+
+
+ Avionics battery
+
+
+ Payload battery
+
+
+
+ Enumeration of VTOL states
+
+ MAV is not configured as VTOL
+
+
+ VTOL is in transition from multicopter to fixed-wing
+
+
+ VTOL is in transition from fixed-wing to multicopter
+
+
+ VTOL is in multicopter state
+
+
+ VTOL is in fixed-wing state
+
+
+
+ Enumeration of landed detector states
+
+ MAV landed state is unknown
+
+
+ MAV is landed (on ground)
+
+
+ MAV is in air
+
+
+
+ Enumeration of the ADSB altimeter types
+
+ Altitude reported from a Baro source using QNH reference
+
+
+ Altitude reported from a GNSS source
+
+
+
+ ADSB classification for the type of vehicle emitting the transponder signal
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ These flags indicate status such as data validity of each data source. Set = data valid
+
+
+
+
+
+
+
+
+
+ Bitmask of options for the MAV_CMD_DO_REPOSITION
+
+ The aircraft should immediately transition into guided. This should not be set for follow me applications
+
+
+
+
+ Flags in EKF_STATUS message
+
+ True if the attitude estimate is good
+
+
+
+ True if the horizontal velocity estimate is good
+
+
+
+ True if the vertical velocity estimate is good
+
+
+
+ True if the horizontal position (relative) estimate is good
+
+
+
+ True if the horizontal position (absolute) estimate is good
+
+
+
+ True if the vertical position (absolute) estimate is good
+
+
+
+ True if the vertical position (above ground) estimate is good
+
+
+
+ True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow)
+
+
+
+ True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate
+
+
+
+ True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate
+
+
+
+ True if the EKF has detected a GPS glitch
+
+
+
+
+
+ The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).
+ Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ System mode bitfield, see MAV_MODE_FLAG ENUM in mavlink/include/mavlink_types.h
+ A bitfield for use for autopilot-specific flags.
+ System status flag, see MAV_STATE ENUM
+ MAVLink version, not writable by user, gets added by protocol because of magic data type: uint8_t_mavlink_version
+
+
+ The general system state. If the system is following the MAVLink standard, the system state is mainly defined by three orthogonal states/modes: The system mode, which is either LOCKED (motors shut down and locked), MANUAL (system under RC control), GUIDED (system with autonomous position control, position setpoint controlled manually) or AUTO (system guided by path/waypoint planner). The NAV_MODE defined the current flight state: LIFTOFF (often an open-loop maneuver), LANDING, WAYPOINTS or VECTOR. This represents the internal navigation state machine. The system status shows wether the system is currently active or not and if an emergency occured. During the CRITICAL and EMERGENCY states the MAV is still considered to be active, but should start emergency procedures autonomously. After a failure occured it should first move from active to critical to allow manual intervention and then move to emergency after a certain timeout.
+ Bitmask showing which onboard controllers and sensors are present. Value of 0: not present. Value of 1: present. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
+ Bitmask showing which onboard controllers and sensors are enabled: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
+ Bitmask showing which onboard controllers and sensors are operational or have an error: Value of 0: not enabled. Value of 1: enabled. Indices defined by ENUM MAV_SYS_STATUS_SENSOR
+ Maximum usage in percent of the mainloop time, (0%: 0, 100%: 1000) should be always below 1000
+ Battery voltage, in millivolts (1 = 1 millivolt)
+ Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot estimate the remaining battery
+ Communication drops in percent, (0%: 0, 100%: 10'000), (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ Communication errors (UART, I2C, SPI, CAN), dropped packets on all links (packets that were corrupted on reception on the MAV)
+ Autopilot-specific errors
+ Autopilot-specific errors
+ Autopilot-specific errors
+ Autopilot-specific errors
+
+
+ The system time is the time of the master clock, typically the computer clock of the main onboard computer.
+ Timestamp of the master clock in microseconds since UNIX epoch.
+ Timestamp of the component clock since boot time in milliseconds.
+
+
+
+ A ping message either requesting or responding to a ping. This allows to measure the system latencies, including serial port, radio modem and UDP connections.
+ Unix timestamp in microseconds or since system boot if smaller than MAVLink epoch (1.1.2009)
+ PING sequence
+ 0: request ping from all receiving systems, if greater than 0: message is a ping response and number is the system id of the requesting system
+ 0: request ping from all receiving components, if greater than 0: message is a ping response and number is the system id of the requesting system
+
+
+ Request to control this MAV
+ System the GCS requests control for
+ 0: request control of this MAV, 1: Release control of this MAV
+ 0: key as plaintext, 1-255: future, different hashing/encryption variants. The GCS should in general use the safest mode possible initially and then gradually move down the encryption level if it gets a NACK message indicating an encryption mismatch.
+ Password / Key, depending on version plaintext or encrypted. 25 or less characters, NULL terminated. The characters may involve A-Z, a-z, 0-9, and "!?,.-"
+
+
+ Accept / deny control of this MAV
+ ID of the GCS this message
+ 0: request control of this MAV, 1: Release control of this MAV
+ 0: ACK, 1: NACK: Wrong passkey, 2: NACK: Unsupported passkey encryption method, 3: NACK: Already under control
+
+
+ Emit an encrypted signature / key identifying this system. PLEASE NOTE: This protocol has been kept simple, so transmitting the key requires an encrypted channel for true safety.
+ key
+
+
+ THIS INTERFACE IS DEPRECATED. USE COMMAND_LONG with MAV_CMD_DO_SET_MODE INSTEAD. Set the system mode, as defined by enum MAV_MODE. There is no target component id as the mode is by definition for the overall aircraft, not only for one component.
+ The system setting the mode
+ The new base mode
+ The new autopilot-specific mode. This field can be ignored by an autopilot.
+
+
+
+ Request to read the onboard parameter with the param_id string id. Onboard parameters are stored as key[const char*] -> value[float]. This allows to send a parameter to any other component (such as the GCS) without the need of previous knowledge of possible parameter names. Thus the same GCS can store different parameters for different autopilots. See also http://qgroundcontrol.org/parameter_interface for a full documentation of QGroundControl and IMU code.
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored)
+
+
+ Request all parameters of this component. After his request, all parameters are emitted.
+ System ID
+ Component ID
+
+
+ Emit the value of a onboard parameter. The inclusion of param_count and param_index in the message allows the recipient to keep track of received parameters and allows him to re-request missing parameters after a loss or timeout.
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Onboard parameter value
+ Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
+ Total number of onboard parameters
+ Index of this onboard parameter
+
+
+ Set a parameter value TEMPORARILY to RAM. It will be reset to default on system reboot. Send the ACTION MAV_ACTION_STORAGE_WRITE to PERMANENTLY write the RAM contents to EEPROM. IMPORTANT: The receiving component should acknowledge the new parameter value by sending a param_value message to all communication partners. This will also ensure that multiple GCS all have an up-to-date list of all parameters. If the sending GCS did not receive a PARAM_VALUE message within its timeout time, it should re-send the PARAM_SET message.
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Onboard parameter value
+ Onboard parameter type: see the MAV_PARAM_TYPE enum for supported data types.
+
+
+ The global position, as returned by the Global Positioning System (GPS). This is
+ NOT the global position estimate of the system, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS, 5: RTK. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84), in degrees * 1E7
+ Altitude (AMSL, NOT WGS84), in meters * 1000 (positive for up). Note that virtually all GPS modules provide the AMSL altitude in addition to the WGS84 altitude.
+ GPS HDOP horizontal dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position (unitless). If unknown, set to: UINT16_MAX
+ GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ Number of satellites visible. If unknown, set to 255
+
+
+ The positioning status, as reported by GPS. This message is intended to display status information about each satellite visible to the receiver. See message GLOBAL_POSITION for the global position estimate. This message can contain information for up to 20 satellites.
+ Number of satellites visible
+ Global satellite ID
+ 0: Satellite not used, 1: used for localization
+ Elevation (0: right on top of receiver, 90: on the horizon) of satellite
+ Direction of satellite, 0: 0 deg, 255: 360 deg.
+ Signal to noise ratio of satellite
+
+
+ The RAW IMU readings for the usual 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (milliseconds since system boot)
+ X acceleration (mg)
+ Y acceleration (mg)
+ Z acceleration (mg)
+ Angular speed around X axis (millirad /sec)
+ Angular speed around Y axis (millirad /sec)
+ Angular speed around Z axis (millirad /sec)
+ X Magnetic field (milli tesla)
+ Y Magnetic field (milli tesla)
+ Z Magnetic field (milli tesla)
+
+
+ The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ X acceleration (raw)
+ Y acceleration (raw)
+ Z acceleration (raw)
+ Angular speed around X axis (raw)
+ Angular speed around Y axis (raw)
+ Angular speed around Z axis (raw)
+ X Magnetic field (raw)
+ Y Magnetic field (raw)
+ Z Magnetic field (raw)
+
+
+ The RAW pressure readings for the typical setup of one absolute pressure and one differential pressure sensor. The sensor values should be the raw, UNSCALED ADC values.
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ Absolute pressure (raw)
+ Differential pressure 1 (raw, 0 if nonexistant)
+ Differential pressure 2 (raw, 0 if nonexistant)
+ Raw Temperature measurement (raw)
+
+
+ The pressure readings for the typical setup of one absolute and differential pressure sensor. The units are as specified in each field.
+ Timestamp (milliseconds since system boot)
+ Absolute pressure (hectopascal)
+ Differential pressure 1 (hectopascal)
+ Temperature measurement (0.01 degrees celsius)
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right).
+ Timestamp (milliseconds since system boot)
+ Roll angle (rad, -pi..+pi)
+ Pitch angle (rad, -pi..+pi)
+ Yaw angle (rad, -pi..+pi)
+ Roll angular speed (rad/s)
+ Pitch angular speed (rad/s)
+ Yaw angular speed (rad/s)
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
+ Timestamp (milliseconds since system boot)
+ Quaternion component 1, w (1 in null-rotation)
+ Quaternion component 2, x (0 in null-rotation)
+ Quaternion component 3, y (0 in null-rotation)
+ Quaternion component 4, z (0 in null-rotation)
+ Roll angular speed (rad/s)
+ Pitch angular speed (rad/s)
+ Yaw angular speed (rad/s)
+
+
+ The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (milliseconds since system boot)
+ X Position
+ Y Position
+ Z Position
+ X Speed
+ Y Speed
+ Z Speed
+
+
+ The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It
+ is designed as scaled integer message since the resolution of float is not sufficient.
+ Timestamp (milliseconds since system boot)
+ Latitude, expressed as degrees * 1E7
+ Longitude, expressed as degrees * 1E7
+ Altitude in meters, expressed as * 1000 (millimeters), AMSL (not WGS84 - note that virtually all GPS modules provide the AMSL as well)
+ Altitude above ground in meters, expressed as * 1000 (millimeters)
+ Ground X Speed (Latitude, positive north), expressed as m/s * 100
+ Ground Y Speed (Longitude, positive east), expressed as m/s * 100
+ Ground Z Speed (Altitude, positive down), expressed as m/s * 100
+ Vehicle heading (yaw angle) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+
+
+ The scaled values of the RC channels received. (-100%) -10000, (0%) 0, (100%) 10000. Channels that are inactive should be set to UINT16_MAX.
+ Timestamp (milliseconds since system boot)
+ Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ RC channel 1 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 2 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 3 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 4 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 5 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 6 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 7 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ RC channel 8 value scaled, (-100%) -10000, (0%) 0, (100%) 10000, (invalid) INT16_MAX.
+ Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
+
+
+ The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
+ Timestamp (milliseconds since system boot)
+ Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows for more than 8 servos.
+ RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
+
+
+ The RAW values of the servo outputs (for RC input from the remote, use the RC_CHANNELS messages). The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%.
+ Timestamp (microseconds since system boot)
+ Servo output port (set of 8 outputs = 1 port). Most MAVs will just use one, but this allows to encode more than 8 servos.
+ Servo output 1 value, in microseconds
+ Servo output 2 value, in microseconds
+ Servo output 3 value, in microseconds
+ Servo output 4 value, in microseconds
+ Servo output 5 value, in microseconds
+ Servo output 6 value, in microseconds
+ Servo output 7 value, in microseconds
+ Servo output 8 value, in microseconds
+
+
+ Request a partial list of mission items from the system/component. http://qgroundcontrol.org/mavlink/waypoint_protocol. If start and end index are the same, just send one waypoint.
+ System ID
+ Component ID
+ Start index, 0 by default
+ End index, -1 by default (-1: send list to end). Else a valid index of the list
+
+
+ This message is sent to the MAV to write a partial list. If start index == end index, only one item will be transmitted / updated. If the start index is NOT 0 and above the current list size, this request should be REJECTED!
+ System ID
+ Component ID
+ Start index, 0 by default and smaller / equal to the largest index of the current onboard list.
+ End index, equal or greater than start index.
+
+
+ Message encoding a mission item. This message is emitted to announce
+ the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See also http://qgroundcontrol.org/mavlink/waypoint_protocol.
+ System ID
+ Component ID
+ Sequence
+ The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ false:0, true:1
+ autocontinue to next wp
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: x position, global: latitude
+ PARAM6 / y position: global: longitude
+ PARAM7 / z position: global: altitude (relative or absolute, depending on frame.
+
+
+ Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM message. http://qgroundcontrol.org/mavlink/waypoint_protocol
+ System ID
+ Component ID
+ Sequence
+
+
+ Set the mission item with sequence number seq as current item. This means that the MAV will continue to this mission item on the shortest path (not following the mission items in-between).
+ System ID
+ Component ID
+ Sequence
+
+
+ Message that announces the sequence number of the current active mission item. The MAV will fly towards this mission item.
+ Sequence
+
+
+ Request the overall list of mission items from the system/component.
+ System ID
+ Component ID
+
+
+ This message is emitted as response to MISSION_REQUEST_LIST by the MAV and to initiate a write transaction. The GCS can then request the individual mission item based on the knowledge of the total number of MISSIONs.
+ System ID
+ Component ID
+ Number of mission items in the sequence
+
+
+ Delete all mission items at once.
+ System ID
+ Component ID
+
+
+ A certain mission item has been reached. The system will either hold this position (or circle on the orbit) or (if the autocontinue on the WP was set) continue to the next MISSION.
+ Sequence
+
+
+ Ack message during MISSION handling. The type field states if this message is a positive ack (type=0) or if an error happened (type=non-zero).
+ System ID
+ Component ID
+ See MAV_MISSION_RESULT enum
+
+
+ As local waypoints exist, the global MISSION reference allows to transform between the local coordinate frame and the global (GPS) coordinate frame. This can be necessary when e.g. in- and outdoor settings are connected and the MAV should move from in- to outdoor.
+ System ID
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84, in degrees * 1E7
+ Altitude (AMSL), in meters * 1000 (positive for up)
+
+
+ Once the MAV sets a new GPS-Local correspondence, this message announces the origin (0,0,0) position
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84), in degrees * 1E7
+ Altitude (AMSL), in meters * 1000 (positive for up)
+
+
+ Bind a RC channel to a parameter. The parameter should change accoding to the RC channel value.
+ System ID
+ Component ID
+ Onboard parameter id, terminated by NULL if the length is less than 16 human-readable chars and WITHOUT null termination (NULL) byte if the length is exactly 16 chars - applications have to provide 16+1 bytes storage if the ID is stored as string
+ Parameter index. Send -1 to use the param ID field as identifier (else the param id will be ignored), send -2 to disable any existing map for this rc_channel_index.
+ Index of parameter RC channel. Not equal to the RC channel id. Typically correpsonds to a potentiometer-knob on the RC.
+ Initial parameter value
+ Scale, maps the RC range [-1, 1] to a parameter value
+ Minimum param value. The protocol does not define if this overwrites an onboard minimum value. (Depends on implementation)
+ Maximum param value. The protocol does not define if this overwrites an onboard maximum value. (Depends on implementation)
+
+
+ Request the information of the mission item with the sequence number seq. The response of the system to this message should be a MISSION_ITEM_INT message. http://qgroundcontrol.org/mavlink/waypoint_protocol
+ System ID
+ Component ID
+ Sequence
+
+
+ Set a safety zone (volume), which is defined by two corners of a cube. This message can be used to tell the MAV which setpoints/MISSIONs to accept and which to reject. Safety areas are often enforced by national or competition regulations.
+ System ID
+ Component ID
+ Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ x position 1 / Latitude 1
+ y position 1 / Longitude 1
+ z position 1 / Altitude 1
+ x position 2 / Latitude 2
+ y position 2 / Longitude 2
+ z position 2 / Altitude 2
+
+
+ Read out the safety zone the MAV currently assumes.
+ Coordinate frame, as defined by MAV_FRAME enum in mavlink_types.h. Can be either global, GPS, right-handed with Z axis up or local, right handed, Z axis down.
+ x position 1 / Latitude 1
+ y position 1 / Longitude 1
+ z position 1 / Altitude 1
+ x position 2 / Latitude 2
+ y position 2 / Longitude 2
+ z position 2 / Altitude 2
+
+
+ The attitude in the aeronautical frame (right-handed, Z-down, X-front, Y-right), expressed as quaternion. Quaternion order is w, x, y, z and a zero rotation would be expressed as (1 0 0 0).
+ Timestamp (milliseconds since system boot)
+ Quaternion components, w, x, y, z (1 0 0 0 is the null-rotation)
+ Roll angular speed (rad/s)
+ Pitch angular speed (rad/s)
+ Yaw angular speed (rad/s)
+ Attitude covariance
+
+
+ The state of the fixed wing navigation and position controller.
+ Current desired roll in degrees
+ Current desired pitch in degrees
+ Current desired heading in degrees
+ Bearing to current MISSION/target in degrees
+ Distance to active MISSION in meters
+ Current altitude error in meters
+ Current airspeed error in meters/second
+ Current crosstrack error on x-y plane in meters
+
+
+ The filtered global position (e.g. fused GPS and accelerometers). The position is in GPS-frame (right-handed, Z-up). It is designed as scaled integer message since the resolution of float is not sufficient. NOTE: This message is intended for onboard networks / companion computers and higher-bandwidth links and optimized for accuracy and completeness. Please use the GLOBAL_POSITION_INT message for a minimal subset.
+ Timestamp (milliseconds since system boot)
+ Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
+ Class id of the estimator this estimate originated from.
+ Latitude, expressed as degrees * 1E7
+ Longitude, expressed as degrees * 1E7
+ Altitude in meters, expressed as * 1000 (millimeters), above MSL
+ Altitude above ground in meters, expressed as * 1000 (millimeters)
+ Ground X Speed (Latitude), expressed as m/s
+ Ground Y Speed (Longitude), expressed as m/s
+ Ground Z Speed (Altitude), expressed as m/s
+ Covariance matrix (first six entries are the first ROW, next six entries are the second row, etc.)
+
+
+ The filtered local position (e.g. fused computer vision and accelerometers). Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (milliseconds since system boot). 0 for system without monotonic timestamp
+ Timestamp (microseconds since UNIX epoch) in UTC. 0 for unknown. Commonly filled by the precision time source of a GPS receiver.
+ Class id of the estimator this estimate originated from.
+ X Position
+ Y Position
+ Z Position
+ X Speed (m/s)
+ Y Speed (m/s)
+ Z Speed (m/s)
+ X Acceleration (m/s^2)
+ Y Acceleration (m/s^2)
+ Z Acceleration (m/s^2)
+ Covariance matrix upper right triangular (first nine entries are the first ROW, next eight entries are the second row, etc.)
+
+
+ The PPM values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
+ Timestamp (milliseconds since system boot)
+ Total number of RC channels being received. This can be larger than 18, indicating that more channels are available but not given in this message. This value should be 0 when no RC channels are available.
+ RC channel 1 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 2 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 3 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 4 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 5 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 6 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 7 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 8 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 9 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 10 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 11 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 12 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 13 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 14 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 15 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 16 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 17 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ RC channel 18 value, in microseconds. A value of UINT16_MAX implies the channel is unused.
+ Receive signal strength indicator, 0: 0%, 100: 100%, 255: invalid/unknown.
+
+
+ THIS INTERFACE IS DEPRECATED. USE SET_MESSAGE_INTERVAL INSTEAD.
+ The target requested to send the message stream.
+ The target requested to send the message stream.
+ The ID of the requested data stream
+ The requested message rate
+ 1 to start sending, 0 to stop sending.
+
+
+ THIS INTERFACE IS DEPRECATED. USE MESSAGE_INTERVAL INSTEAD.
+ The ID of the requested data stream
+ The message rate
+ 1 stream is enabled, 0 stream is stopped.
+
+
+ This message provides an API for manually controlling the vehicle using standard joystick axes nomenclature, along with a joystick-like input device. Unused axes can be disabled an buttons are also transmit as boolean values of their
+ The system to be controlled.
+ X-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to forward(1000)-backward(-1000) movement on a joystick and the pitch of a vehicle.
+ Y-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to left(-1000)-right(1000) movement on a joystick and the roll of a vehicle.
+ Z-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a separate slider movement with maximum being 1000 and minimum being -1000 on a joystick and the thrust of a vehicle. Positive values are positive thrust, negative values are negative thrust.
+ R-axis, normalized to the range [-1000,1000]. A value of INT16_MAX indicates that this axis is invalid. Generally corresponds to a twisting of the joystick, with counter-clockwise being 1000 and clockwise being -1000, and the yaw of a vehicle.
+ A bitfield corresponding to the joystick buttons' current state, 1 for pressed, 0 for released. The lowest bit corresponds to Button 1.
+
+
+ The RAW values of the RC channels sent to the MAV to override info received from the RC radio. A value of UINT16_MAX means no change to that channel. A value of 0 means control of that channel should be released back to the RC radio. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
+ System ID
+ Component ID
+ RC channel 1 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 2 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 3 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 4 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 5 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 6 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 7 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+ RC channel 8 value, in microseconds. A value of UINT16_MAX means to ignore this field.
+
+
+ Message encoding a mission item. This message is emitted to announce
+ the presence of a mission item and to set a mission item on the system. The mission item can be either in x, y, z meters (type: LOCAL) or x:lat, y:lon, z:altitude. Local frame is Z-down, right handed (NED), global frame is Z-up, right handed (ENU). See alsohttp://qgroundcontrol.org/mavlink/waypoint_protocol.
+ System ID
+ Component ID
+ Waypoint ID (sequence number). Starts at zero. Increases monotonically for each waypoint, no gaps in the sequence (0,1,2,3,4).
+ The coordinate system of the MISSION. see MAV_FRAME in mavlink_types.h
+ The scheduled action for the MISSION. see MAV_CMD in common.xml MAVLink specs
+ false:0, true:1
+ autocontinue to next wp
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
+ PARAM6 / y position: local: x position in meters * 1e4, global: longitude in degrees *10^7
+ PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
+
+
+ Metrics typically displayed on a HUD for fixed wing aircraft
+ Current airspeed in m/s
+ Current ground speed in m/s
+ Current heading in degrees, in compass units (0..360, 0=north)
+ Current throttle setting in integer percent, 0 to 100
+ Current altitude (MSL), in meters
+ Current climb rate in meters/second
+
+
+ Message encoding a command with parameters as scaled integers. Scaling depends on the actual command value.
+ System ID
+ Component ID
+ The coordinate system of the COMMAND. see MAV_FRAME in mavlink_types.h
+ The scheduled action for the mission item. see MAV_CMD in common.xml MAVLink specs
+ false:0, true:1
+ autocontinue to next wp
+ PARAM1, see MAV_CMD enum
+ PARAM2, see MAV_CMD enum
+ PARAM3, see MAV_CMD enum
+ PARAM4, see MAV_CMD enum
+ PARAM5 / local: x position in meters * 1e4, global: latitude in degrees * 10^7
+ PARAM6 / local: y position in meters * 1e4, global: longitude in degrees * 10^7
+ PARAM7 / z position: global: altitude in meters (relative or absolute, depending on frame.
+
+
+ Send a command with up to seven parameters to the MAV
+ System which should execute the command
+ Component which should execute the command, 0 for all components
+ Command ID, as defined by MAV_CMD enum.
+ 0: First transmission of this command. 1-255: Confirmation transmissions (e.g. for kill command)
+ Parameter 1, as defined by MAV_CMD enum.
+ Parameter 2, as defined by MAV_CMD enum.
+ Parameter 3, as defined by MAV_CMD enum.
+ Parameter 4, as defined by MAV_CMD enum.
+ Parameter 5, as defined by MAV_CMD enum.
+ Parameter 6, as defined by MAV_CMD enum.
+ Parameter 7, as defined by MAV_CMD enum.
+
+
+ Report status of a command. Includes feedback wether the command was executed.
+ Command ID, as defined by MAV_CMD enum.
+ See MAV_RESULT enum
+
+
+ Setpoint in roll, pitch, yaw and thrust from the operator
+ Timestamp in milliseconds since system boot
+ Desired roll rate in radians per second
+ Desired pitch rate in radians per second
+ Desired yaw rate in radians per second
+ Collective thrust, normalized to 0 .. 1
+ Flight mode switch position, 0.. 255
+ Override mode switch position, 0.. 255
+
+
+ Sets a desired vehicle attitude. Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp in milliseconds since system boot
+ System ID
+ Component ID
+ Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 6: reserved, bit 7: throttle, bit 8: attitude
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Body roll rate in radians per second
+ Body roll rate in radians per second
+ Body roll rate in radians per second
+ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
+
+
+ Reports the current commanded attitude of the vehicle as specified by the autopilot. This should match the commands sent in a SET_ATTITUDE_TARGET message if the vehicle is being controlled this way.
+ Timestamp in milliseconds since system boot
+ Mappings: If any of these bits are set, the corresponding input should be ignored: bit 1: body roll rate, bit 2: body pitch rate, bit 3: body yaw rate. bit 4-bit 7: reserved, bit 8: attitude
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ Body roll rate in radians per second
+ Body roll rate in radians per second
+ Body roll rate in radians per second
+ Collective thrust, normalized to 0 .. 1 (-1 .. 1 for vehicles capable of reverse trust)
+
+
+ Sets a desired vehicle position in a local north-east-down coordinate frame. Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp in milliseconds since system boot
+ System ID
+ Component ID
+ Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
+ Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
+ X Position in NED frame in meters
+ Y Position in NED frame in meters
+ Z Position in NED frame in meters (note, altitude is negative in NED)
+ X velocity in NED frame in meter / s
+ Y velocity in NED frame in meter / s
+ Z velocity in NED frame in meter / s
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint in rad
+ yaw rate setpoint in rad/s
+
+
+ Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_LOCAL_NED if the vehicle is being controlled this way.
+ Timestamp in milliseconds since system boot
+ Valid options are: MAV_FRAME_LOCAL_NED = 1, MAV_FRAME_LOCAL_OFFSET_NED = 7, MAV_FRAME_BODY_NED = 8, MAV_FRAME_BODY_OFFSET_NED = 9
+ Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
+ X Position in NED frame in meters
+ Y Position in NED frame in meters
+ Z Position in NED frame in meters (note, altitude is negative in NED)
+ X velocity in NED frame in meter / s
+ Y velocity in NED frame in meter / s
+ Z velocity in NED frame in meter / s
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint in rad
+ yaw rate setpoint in rad/s
+
+
+ Sets a desired vehicle position, velocity, and/or acceleration in a global coordinate system (WGS84). Used by an external controller to command the vehicle (manual controller or other system).
+ Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
+ System ID
+ Component ID
+ Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
+ Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
+ X Position in WGS84 frame in 1e7 * meters
+ Y Position in WGS84 frame in 1e7 * meters
+ Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
+ X velocity in NED frame in meter / s
+ Y velocity in NED frame in meter / s
+ Z velocity in NED frame in meter / s
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint in rad
+ yaw rate setpoint in rad/s
+
+
+ Reports the current commanded vehicle position, velocity, and acceleration as specified by the autopilot. This should match the commands sent in SET_POSITION_TARGET_GLOBAL_INT if the vehicle is being controlled this way.
+ Timestamp in milliseconds since system boot. The rationale for the timestamp in the setpoint is to allow the system to compensate for the transport delay of the setpoint. This allows the system to compensate processing latency.
+ Valid options are: MAV_FRAME_GLOBAL_INT = 5, MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6, MAV_FRAME_GLOBAL_TERRAIN_ALT_INT = 11
+ Bitmask to indicate which dimensions should be ignored by the vehicle: a value of 0b0000000000000000 or 0b0000001000000000 indicates that none of the setpoint dimensions should be ignored. If bit 10 is set the floats afx afy afz should be interpreted as force instead of acceleration. Mapping: bit 1: x, bit 2: y, bit 3: z, bit 4: vx, bit 5: vy, bit 6: vz, bit 7: ax, bit 8: ay, bit 9: az, bit 10: is force setpoint, bit 11: yaw, bit 12: yaw rate
+ X Position in WGS84 frame in 1e7 * meters
+ Y Position in WGS84 frame in 1e7 * meters
+ Altitude in meters in AMSL altitude, not WGS84 if absolute or relative, above terrain if GLOBAL_TERRAIN_ALT_INT
+ X velocity in NED frame in meter / s
+ Y velocity in NED frame in meter / s
+ Z velocity in NED frame in meter / s
+ X acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Y acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ Z acceleration or force (if bit 10 of type_mask is set) in NED frame in meter / s^2 or N
+ yaw setpoint in rad
+ yaw rate setpoint in rad/s
+
+
+ The offset in X, Y, Z and yaw between the LOCAL_POSITION_NED messages of MAV X and the global coordinate frame in NED coordinates. Coordinate frame is right-handed, Z-axis down (aeronautical frame, NED / north-east-down convention)
+ Timestamp (milliseconds since system boot)
+ X Position
+ Y Position
+ Z Position
+ Roll
+ Pitch
+ Yaw
+
+
+ DEPRECATED PACKET! Suffers from missing airspeed fields and singularities due to Euler angles. Please use HIL_STATE_QUATERNION instead. Sent from simulation to autopilot. This packet is useful for high throughput applications such as hardware in the loop simulations.
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ Roll angle (rad)
+ Pitch angle (rad)
+ Yaw angle (rad)
+ Body frame roll / phi angular speed (rad/s)
+ Body frame pitch / theta angular speed (rad/s)
+ Body frame yaw / psi angular speed (rad/s)
+ Latitude, expressed as * 1E7
+ Longitude, expressed as * 1E7
+ Altitude in meters, expressed as * 1000 (millimeters)
+ Ground X Speed (Latitude), expressed as m/s * 100
+ Ground Y Speed (Longitude), expressed as m/s * 100
+ Ground Z Speed (Altitude), expressed as m/s * 100
+ X acceleration (mg)
+ Y acceleration (mg)
+ Z acceleration (mg)
+
+
+ Sent from autopilot to simulation. Hardware in the loop control outputs
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ Control output -1 .. 1
+ Control output -1 .. 1
+ Control output -1 .. 1
+ Throttle 0 .. 1
+ Aux 1, -1 .. 1
+ Aux 2, -1 .. 1
+ Aux 3, -1 .. 1
+ Aux 4, -1 .. 1
+ System mode (MAV_MODE)
+ Navigation mode (MAV_NAV_MODE)
+
+
+ Sent from simulation to autopilot. The RAW values of the RC channels received. The standard PPM modulation is as follows: 1000 microseconds: 0%, 2000 microseconds: 100%. Individual receivers/transmitters might violate this specification.
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ RC channel 1 value, in microseconds
+ RC channel 2 value, in microseconds
+ RC channel 3 value, in microseconds
+ RC channel 4 value, in microseconds
+ RC channel 5 value, in microseconds
+ RC channel 6 value, in microseconds
+ RC channel 7 value, in microseconds
+ RC channel 8 value, in microseconds
+ RC channel 9 value, in microseconds
+ RC channel 10 value, in microseconds
+ RC channel 11 value, in microseconds
+ RC channel 12 value, in microseconds
+ Receive signal strength indicator, 0: 0%, 255: 100%
+
+
+ Optical flow from a flow sensor (e.g. optical mouse sensor)
+ Timestamp (UNIX)
+ Sensor ID
+ Flow in pixels * 10 in x-sensor direction (dezi-pixels)
+ Flow in pixels * 10 in y-sensor direction (dezi-pixels)
+ Flow in meters in x-sensor direction, angular-speed compensated
+ Flow in meters in y-sensor direction, angular-speed compensated
+ Optical flow quality / confidence. 0: bad, 255: maximum quality
+ Ground distance in meters. Positive value: distance known. Negative value: Unknown distance
+
+
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Global X position
+ Global Y position
+ Global Z position
+ Roll angle in rad
+ Pitch angle in rad
+ Yaw angle in rad
+
+
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Global X position
+ Global Y position
+ Global Z position
+ Roll angle in rad
+ Pitch angle in rad
+ Yaw angle in rad
+
+
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Global X speed
+ Global Y speed
+ Global Z speed
+
+
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Global X position
+ Global Y position
+ Global Z position
+ Roll angle in rad
+ Pitch angle in rad
+ Yaw angle in rad
+
+
+ The IMU readings in SI units in NED body frame
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ X acceleration (m/s^2)
+ Y acceleration (m/s^2)
+ Z acceleration (m/s^2)
+ Angular speed around X axis (rad / sec)
+ Angular speed around Y axis (rad / sec)
+ Angular speed around Z axis (rad / sec)
+ X Magnetic field (Gauss)
+ Y Magnetic field (Gauss)
+ Z Magnetic field (Gauss)
+ Absolute pressure in millibar
+ Differential pressure in millibar
+ Altitude calculated from pressure
+ Temperature in degrees celsius
+ Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature
+
+
+ Optical flow from an angular rate flow sensor (e.g. PX4FLOW or mouse sensor)
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Sensor ID
+ Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
+ Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
+ Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
+ RH rotation around X axis (rad)
+ RH rotation around Y axis (rad)
+ RH rotation around Z axis (rad)
+ Temperature * 100 in centi-degrees Celsius
+ Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
+ Time in microseconds since the distance was sampled.
+ Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
+
+
+ The IMU readings in SI units in NED body frame
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ X acceleration (m/s^2)
+ Y acceleration (m/s^2)
+ Z acceleration (m/s^2)
+ Angular speed around X axis in body frame (rad / sec)
+ Angular speed around Y axis in body frame (rad / sec)
+ Angular speed around Z axis in body frame (rad / sec)
+ X Magnetic field (Gauss)
+ Y Magnetic field (Gauss)
+ Z Magnetic field (Gauss)
+ Absolute pressure in millibar
+ Differential pressure (airspeed) in millibar
+ Altitude calculated from pressure
+ Temperature in degrees celsius
+ Bitmask for fields that have updated since last message, bit 0 = xacc, bit 12: temperature, bit 31: full reset of attitude/position/velocities/etc was performed in sim.
+
+
+
+ Status of simulation environment, if used
+ True attitude quaternion component 1, w (1 in null-rotation)
+ True attitude quaternion component 2, x (0 in null-rotation)
+ True attitude quaternion component 3, y (0 in null-rotation)
+ True attitude quaternion component 4, z (0 in null-rotation)
+ Attitude roll expressed as Euler angles, not recommended except for human-readable outputs
+ Attitude pitch expressed as Euler angles, not recommended except for human-readable outputs
+ Attitude yaw expressed as Euler angles, not recommended except for human-readable outputs
+ X acceleration m/s/s
+ Y acceleration m/s/s
+ Z acceleration m/s/s
+ Angular speed around X axis rad/s
+ Angular speed around Y axis rad/s
+ Angular speed around Z axis rad/s
+ Latitude in degrees
+ Longitude in degrees
+ Altitude in meters
+ Horizontal position standard deviation
+ Vertical position standard deviation
+ True velocity in m/s in NORTH direction in earth-fixed NED frame
+ True velocity in m/s in EAST direction in earth-fixed NED frame
+ True velocity in m/s in DOWN direction in earth-fixed NED frame
+
+
+
+ Status generated by radio and injected into MAVLink stream.
+ Local signal strength
+ Remote signal strength
+ Remaining free buffer space in percent.
+ Background noise level
+ Remote background noise level
+ Receive errors
+ Count of error corrected packets
+
+
+ File transfer message
+ Network ID (0 for broadcast)
+ System ID (0 for broadcast)
+ Component ID (0 for broadcast)
+ Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.
+
+
+ Time synchronization message.
+ Time sync timestamp 1
+ Time sync timestamp 2
+
+
+ Camera-IMU triggering and synchronisation message.
+ Timestamp for the image frame in microseconds
+ Image frame sequence
+
+
+ The global position, as returned by the Global Positioning System (GPS). This is
+ NOT the global position estimate of the sytem, but rather a RAW sensor value. See message GLOBAL_POSITION for the global position estimate. Coordinate frame is right-handed, Z-axis up (GPS frame).
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84), in degrees * 1E7
+ Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
+ GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: 65535
+ GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: 65535
+ GPS ground speed (m/s * 100). If unknown, set to: 65535
+ GPS velocity in cm/s in NORTH direction in earth-fixed NED frame
+ GPS velocity in cm/s in EAST direction in earth-fixed NED frame
+ GPS velocity in cm/s in DOWN direction in earth-fixed NED frame
+ Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: 65535
+ Number of satellites visible. If unknown, set to 255
+
+
+ Simulated optical flow from a flow sensor (e.g. PX4FLOW or optical mouse sensor)
+ Timestamp (microseconds, synced to UNIX time or since system boot)
+ Sensor ID
+ Integration time in microseconds. Divide integrated_x and integrated_y by the integration time to obtain average flow. The integration time also indicates the.
+ Flow in radians around X axis (Sensor RH rotation about the X axis induces a positive flow. Sensor linear motion along the positive Y axis induces a negative flow.)
+ Flow in radians around Y axis (Sensor RH rotation about the Y axis induces a positive flow. Sensor linear motion along the positive X axis induces a positive flow.)
+ RH rotation around X axis (rad)
+ RH rotation around Y axis (rad)
+ RH rotation around Z axis (rad)
+ Temperature * 100 in centi-degrees Celsius
+ Optical flow quality / confidence. 0: no valid flow, 255: maximum quality
+ Time in microseconds since the distance was sampled.
+ Distance to the center of the flow field in meters. Positive value (including zero): distance known. Negative value: Unknown distance.
+
+
+ Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ Vehicle attitude expressed as normalized quaternion in w, x, y, z order (with 1 0 0 0 being the null-rotation)
+ Body frame roll / phi angular speed (rad/s)
+ Body frame pitch / theta angular speed (rad/s)
+ Body frame yaw / psi angular speed (rad/s)
+ Latitude, expressed as * 1E7
+ Longitude, expressed as * 1E7
+ Altitude in meters, expressed as * 1000 (millimeters)
+ Ground X Speed (Latitude), expressed as m/s * 100
+ Ground Y Speed (Longitude), expressed as m/s * 100
+ Ground Z Speed (Altitude), expressed as m/s * 100
+ Indicated airspeed, expressed as m/s * 100
+ True airspeed, expressed as m/s * 100
+ X acceleration (mg)
+ Y acceleration (mg)
+ Z acceleration (mg)
+
+
+ The RAW IMU readings for secondary 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (milliseconds since system boot)
+ X acceleration (mg)
+ Y acceleration (mg)
+ Z acceleration (mg)
+ Angular speed around X axis (millirad /sec)
+ Angular speed around Y axis (millirad /sec)
+ Angular speed around Z axis (millirad /sec)
+ X Magnetic field (milli tesla)
+ Y Magnetic field (milli tesla)
+ Z Magnetic field (milli tesla)
+
+
+ Request a list of available logs. On some systems calling this may stop on-board logging until LOG_REQUEST_END is called.
+ System ID
+ Component ID
+ First log id (0 for first available)
+ Last log id (0xffff for last available)
+
+
+ Reply to LOG_REQUEST_LIST
+ Log id
+ Total number of logs
+ High log number
+ UTC timestamp of log in seconds since 1970, or 0 if not available
+ Size of the log (may be approximate) in bytes
+
+
+ Request a chunk of a log
+ System ID
+ Component ID
+ Log id (from LOG_ENTRY reply)
+ Offset into the log
+ Number of bytes
+
+
+ Reply to LOG_REQUEST_DATA
+ Log id (from LOG_ENTRY reply)
+ Offset into the log
+ Number of bytes (zero for end of log)
+ log data
+
+
+ Erase all logs
+ System ID
+ Component ID
+
+
+ Stop log transfer and resume normal logging
+ System ID
+ Component ID
+
+
+ data for injecting into the onboard GPS (used for DGPS)
+ System ID
+ Component ID
+ data length
+ raw data (110 is enough for 12 satellites of RTCMv2)
+
+
+ Second GPS data. Coordinate frame is right-handed, Z-axis up (GPS frame).
+ Timestamp (microseconds since UNIX epoch or microseconds since system boot)
+ 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: DGPS fix, 5: RTK Fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix.
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84), in degrees * 1E7
+ Altitude (AMSL, not WGS84), in meters * 1000 (positive for up)
+ GPS HDOP horizontal dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ GPS VDOP vertical dilution of position in cm (m*100). If unknown, set to: UINT16_MAX
+ GPS ground speed (m/s * 100). If unknown, set to: UINT16_MAX
+ Course over ground (NOT heading, but direction of movement) in degrees * 100, 0.0..359.99 degrees. If unknown, set to: UINT16_MAX
+ Number of satellites visible. If unknown, set to 255
+ Number of DGPS satellites
+ Age of DGPS info
+
+
+ Power supply status
+ 5V rail voltage in millivolts
+ servo rail voltage in millivolts
+ power supply status flags (see MAV_POWER_STATUS enum)
+
+
+ Control a serial port. This can be used for raw access to an onboard serial peripheral such as a GPS or telemetry radio. It is designed to make it possible to update the devices firmware via MAVLink messages or change the devices settings. A message with zero bytes can be used to change just the baudrate.
+ See SERIAL_CONTROL_DEV enum
+ See SERIAL_CONTROL_FLAG enum
+ Timeout for reply data in milliseconds
+ Baudrate of transfer. Zero means no change.
+ how many bytes in this transfer
+ serial data
+
+
+ RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
+ Time since boot of last baseline message received in ms.
+ Identification of connected RTK receiver.
+ GPS Week Number of last baseline
+ GPS Time of Week of last baseline
+ GPS-specific health report for RTK data.
+ Rate of baseline messages being received by GPS, in HZ
+ Current number of sats used for RTK calculation.
+ Coordinate system of baseline. 0 == ECEF, 1 == NED
+ Current baseline in ECEF x or NED north component in mm.
+ Current baseline in ECEF y or NED east component in mm.
+ Current baseline in ECEF z or NED down component in mm.
+ Current estimate of baseline accuracy.
+ Current number of integer ambiguity hypotheses.
+
+
+ RTK GPS data. Gives information on the relative baseline calculation the GPS is reporting
+ Time since boot of last baseline message received in ms.
+ Identification of connected RTK receiver.
+ GPS Week Number of last baseline
+ GPS Time of Week of last baseline
+ GPS-specific health report for RTK data.
+ Rate of baseline messages being received by GPS, in HZ
+ Current number of sats used for RTK calculation.
+ Coordinate system of baseline. 0 == ECEF, 1 == NED
+ Current baseline in ECEF x or NED north component in mm.
+ Current baseline in ECEF y or NED east component in mm.
+ Current baseline in ECEF z or NED down component in mm.
+ Current estimate of baseline accuracy.
+ Current number of integer ambiguity hypotheses.
+
+
+ The RAW IMU readings for 3rd 9DOF sensor setup. This message should contain the scaled values to the described units
+ Timestamp (milliseconds since system boot)
+ X acceleration (mg)
+ Y acceleration (mg)
+ Z acceleration (mg)
+ Angular speed around X axis (millirad /sec)
+ Angular speed around Y axis (millirad /sec)
+ Angular speed around Z axis (millirad /sec)
+ X Magnetic field (milli tesla)
+ Y Magnetic field (milli tesla)
+ Z Magnetic field (milli tesla)
+
+
+ type of requested/acknowledged data (as defined in ENUM DATA_TYPES in mavlink/include/mavlink_types.h)
+ total data size in bytes (set on ACK only)
+ Width of a matrix or image
+ Height of a matrix or image
+ number of packets beeing sent (set on ACK only)
+ payload size per packet (normally 253 byte, see DATA field size in message ENCAPSULATED_DATA) (set on ACK only)
+ JPEG quality out of [1,100]
+
+
+ sequence number (starting with 0 on every transmission)
+ image data bytes
+
+
+ Time since system boot
+ Minimum distance the sensor can measure in centimeters
+ Maximum distance the sensor can measure in centimeters
+ Current distance reading
+ Type from MAV_DISTANCE_SENSOR enum.
+ Onboard ID of the sensor
+ Direction the sensor faces from MAV_SENSOR_ORIENTATION enum.
+ Measurement covariance in centimeters, 0 for unknown / invalid readings
+
+
+ Request for terrain data and terrain status
+ Latitude of SW corner of first grid (degrees *10^7)
+ Longitude of SW corner of first grid (in degrees *10^7)
+ Grid spacing in meters
+ Bitmask of requested 4x4 grids (row major 8x7 array of grids, 56 bits)
+
+
+ Terrain data sent from GCS. The lat/lon and grid_spacing must be the same as a lat/lon from a TERRAIN_REQUEST
+ Latitude of SW corner of first grid (degrees *10^7)
+ Longitude of SW corner of first grid (in degrees *10^7)
+ Grid spacing in meters
+ bit within the terrain request mask
+ Terrain data in meters AMSL
+
+
+ Request that the vehicle report terrain height at the given location. Used by GCS to check if vehicle has all terrain data needed for a mission.
+ Latitude (degrees *10^7)
+ Longitude (degrees *10^7)
+
+
+ Response from a TERRAIN_CHECK request
+ Latitude (degrees *10^7)
+ Longitude (degrees *10^7)
+ grid spacing (zero if terrain at this location unavailable)
+ Terrain height in meters AMSL
+ Current vehicle height above lat/lon terrain height (meters)
+ Number of 4x4 terrain blocks waiting to be received or read from disk
+ Number of 4x4 terrain blocks in memory
+
+
+ Barometer readings for 2nd barometer
+ Timestamp (milliseconds since system boot)
+ Absolute pressure (hectopascal)
+ Differential pressure 1 (hectopascal)
+ Temperature measurement (0.01 degrees celsius)
+
+
+ Motion capture attitude and position
+ Timestamp (micros since boot or Unix epoch)
+ Attitude quaternion (w, x, y, z order, zero-rotation is 1, 0, 0, 0)
+ X position in meters (NED)
+ Y position in meters (NED)
+ Z position in meters (NED)
+
+
+ Set the vehicle attitude and body angular rates.
+ Timestamp (micros since boot or Unix epoch)
+ Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
+ System ID
+ Component ID
+ Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
+
+
+ Set the vehicle attitude and body angular rates.
+ Timestamp (micros since boot or Unix epoch)
+ Actuator group. The "_mlx" indicates this is a multi-instance message and a MAVLink parser should use this field to difference between instances.
+ Actuator controls. Normed to -1..+1 where 0 is neutral position. Throttle for single rotation direction motors is 0..1, negative range for reverse direction. Standard mapping for attitude controls (group 0): (index 0-7): roll, pitch, yaw, throttle, flaps, spoilers, airbrakes, landing gear. Load a pass-through mixer to repurpose them as generic outputs.
+
+
+ The current system altitude.
+ Timestamp (milliseconds since system boot)
+ This altitude measure is initialized on system boot and monotonic (it is never reset, but represents the local altitude change). The only guarantee on this field is that it will never be reset and is consistent within a flight. The recommended value for this field is the uncorrected barometric altitude at boot time. This altitude will also drift and vary between flights.
+ This altitude measure is strictly above mean sea level and might be non-monotonic (it might reset on events like GPS lock or when a new QNH value is set). It should be the altitude to which global altitude waypoints are compared to. Note that it is *not* the GPS altitude, however, most GPS modules already output AMSL by default and not the WGS84 altitude.
+ This is the local altitude in the local coordinate frame. It is not the altitude above home, but in reference to the coordinate origin (0, 0, 0). It is up-positive.
+ This is the altitude above the home position. It resets on each change of the current home position.
+ This is the altitude above terrain. It might be fed by a terrain database or an altimeter. Values smaller than -1000 should be interpreted as unknown.
+ This is not the altitude, but the clear space below the system according to the fused clearance estimate. It generally should max out at the maximum range of e.g. the laser altimeter. It is generally a moving target. A negative value indicates no measurement available.
+
+
+ The autopilot is requesting a resource (file, binary, other type of data)
+ Request ID. This ID should be re-used when sending back URI contents
+ The type of requested URI. 0 = a file via URL. 1 = a UAVCAN binary
+ The requested unique resource identifier (URI). It is not necessarily a straight domain name (depends on the URI type enum)
+ The way the autopilot wants to receive the URI. 0 = MAVLink FTP. 1 = binary stream.
+ The storage path the autopilot wants the URI to be stored in. Will only be valid if the transfer_type has a storage associated (e.g. MAVLink FTP).
+
+
+ Barometer readings for 3rd barometer
+ Timestamp (milliseconds since system boot)
+ Absolute pressure (hectopascal)
+ Differential pressure 1 (hectopascal)
+ Temperature measurement (0.01 degrees celsius)
+
+
+ current motion information from a designated system
+ Timestamp in milliseconds since system boot
+ bit positions for tracker reporting capabilities (POS = 0, VEL = 1, ACCEL = 2, ATT + RATES = 3)
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84), in degrees * 1E7
+ AMSL, in meters
+ target velocity (0,0,0) for unknown
+ linear target acceleration (0,0,0) for unknown
+ (1 0 0 0 for unknown)
+ (0 0 0 for unknown)
+ eph epv
+ button states or switches of a tracker device
+
+
+ The smoothed, monotonic system state used to feed the control loops of the system.
+ Timestamp (micros since boot or Unix epoch)
+ X acceleration in body frame
+ Y acceleration in body frame
+ Z acceleration in body frame
+ X velocity in body frame
+ Y velocity in body frame
+ Z velocity in body frame
+ X position in local frame
+ Y position in local frame
+ Z position in local frame
+ Airspeed, set to -1 if unknown
+ Variance of body velocity estimate
+ Variance in local position
+ The attitude, represented as Quaternion
+ Angular rate in roll axis
+ Angular rate in pitch axis
+ Angular rate in yaw axis
+
+
+ Battery information
+ Battery ID
+ Function of the battery
+ Type (chemistry) of the battery
+ Temperature of the battery in centi-degrees celsius. INT16_MAX for unknown temperature.
+ Battery voltage of cells, in millivolts (1 = 1 millivolt). Cells above the valid cell count for this battery should have the UINT16_MAX value.
+ Battery current, in 10*milliamperes (1 = 10 milliampere), -1: autopilot does not measure the current
+ Consumed charge, in milliampere hours (1 = 1 mAh), -1: autopilot does not provide mAh consumption estimate
+ Consumed energy, in 100*Joules (intergrated U*I*dt) (1 = 100 Joule), -1: autopilot does not provide energy consumption estimate
+ Remaining battery energy: (0%: 0, 100%: 100), -1: autopilot does not estimate the remaining battery
+
+
+ Version and capability of autopilot software
+ bitmask of capabilities (see MAV_PROTOCOL_CAPABILITY enum)
+ Firmware version number
+ Middleware version number
+ Operating system version number
+ HW / board version (last 8 bytes should be silicon ID, if any)
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ Custom version field, commonly the first 8 bytes of the git hash. This is not an unique identifier, but should allow to identify the commit using the main version number even for very large code bases.
+ ID of the board vendor
+ ID of the product
+ UID if provided by hardware
+
+
+ The location of a landing area captured from a downward facing camera
+ Timestamp (micros since boot or Unix epoch)
+ The ID of the target if multiple targets are present
+ MAV_FRAME enum specifying the whether the following feilds are earth-frame, body-frame, etc.
+ X-axis angular offset (in radians) of the target from the center of the image
+ Y-axis angular offset (in radians) of the target from the center of the image
+ Distance to the target from the vehicle in meters
+ Size in radians of target along x-axis
+ Size in radians of target along y-axis
+
+
+
+ Estimator status message including flags, innovation test ratios and estimated accuracies. The flags message is an integer bitmask containing information on which EKF outputs are valid. See the ESTIMATOR_STATUS_FLAGS enum definition for further information. The innovaton test ratios show the magnitude of the sensor innovation divided by the innovation check threshold. Under normal operation the innovaton test ratios should be below 0.5 with occasional values up to 1.0. Values greater than 1.0 should be rare under normal operation and indicate that a measurement has been rejected by the filter. The user should be notified if an innovation test ratio greater than 1.0 is recorded. Notifications for values in the range between 0.5 and 1.0 should be optional and controllable by the user.
+ Timestamp (micros since boot or Unix epoch)
+ Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.
+ Velocity innovation test ratio
+ Horizontal position innovation test ratio
+ Vertical position innovation test ratio
+ Magnetometer innovation test ratio
+ Height above terrain innovation test ratio
+ True airspeed innovation test ratio
+ Horizontal position 1-STD accuracy relative to the EKF local origin (m)
+ Vertical position 1-STD accuracy relative to the EKF local origin (m)
+
+
+ Timestamp (micros since boot or Unix epoch)
+ Wind in X (NED) direction in m/s
+ Wind in Y (NED) direction in m/s
+ Wind in Z (NED) direction in m/s
+ Variability of the wind in XY. RMS of a 1 Hz lowpassed wind estimate.
+ Variability of the wind in Z. RMS of a 1 Hz lowpassed wind estimate.
+ AMSL altitude (m) this measurement was taken at
+ Horizontal speed 1-STD accuracy
+ Vertical speed 1-STD accuracy
+
+
+ Vibration levels and accelerometer clipping
+ Timestamp (micros since boot or Unix epoch)
+ Vibration levels on X-axis
+ Vibration levels on Y-axis
+ Vibration levels on Z-axis
+ first accelerometer clipping count
+ second accelerometer clipping count
+ third accelerometer clipping count
+
+
+ This message can be requested by sending the MAV_CMD_GET_HOME_POSITION command. The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The position the system will return to and land on. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84, in degrees * 1E7
+ Altitude (AMSL), in meters * 1000 (positive for up)
+ Local X position of this position in the local coordinate frame
+ Local Y position of this position in the local coordinate frame
+ Local Z position of this position in the local coordinate frame
+ World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
+ Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+
+
+ The position the system will return to and land on. The position is set automatically by the system during the takeoff in case it was not explicitely set by the operator before or after. The global and local positions encode the position in the respective coordinate frames, while the q parameter encodes the orientation of the surface. Under normal conditions it describes the heading and terrain slope, which can be used by the aircraft to adjust the approach. The approach 3D vector describes the point to which the system should fly in normal flight mode and then perform a landing sequence along the vector.
+ System ID.
+ Latitude (WGS84), in degrees * 1E7
+ Longitude (WGS84, in degrees * 1E7
+ Altitude (AMSL), in meters * 1000 (positive for up)
+ Local X position of this position in the local coordinate frame
+ Local Y position of this position in the local coordinate frame
+ Local Z position of this position in the local coordinate frame
+ World to surface normal and heading transformation of the takeoff position. Used to indicate the heading and slope of the ground
+ Local X position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Y position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+ Local Z position of the end of the approach vector. Multicopters should set this position based on their takeoff path. Grass-landing fixed wing aircraft should set it the same way as multicopters. Runway-landing fixed wing aircraft should set it to the opposite direction of the takeoff, assuming the takeoff happened from the threshold / touchdown zone.
+
+
+ This interface replaces DATA_STREAM
+ The ID of the requested MAVLink message. v1.0 is limited to 254 messages.
+ The interval between two messages, in microseconds. A value of -1 indicates this stream is disabled, 0 indicates it is not available, > 0 indicates the interval at which it is sent.
+
+
+ Provides state for additional features
+ The VTOL state if applicable. Is set to MAV_VTOL_STATE_UNDEFINED if UAV is not in VTOL configuration.
+ The landed state. Is set to MAV_LANDED_STATE_UNDEFINED if landed state is unknown.
+
+
+ The location and information of an ADSB vehicle
+ ICAO address
+ Latitude, expressed as degrees * 1E7
+ Longitude, expressed as degrees * 1E7
+ Type from ADSB_ALTITUDE_TYPE enum
+ Altitude(ASL) in millimeters
+ Course over ground in centidegrees
+ The horizontal velocity in centimeters/second
+ The vertical velocity in centimeters/second, positive is up
+ The callsign, 8+null
+ Type from ADSB_EMITTER_TYPE enum
+ Time since last communication in seconds
+ Flags to indicate various statuses including valid data fields
+ Squawk code
+
+
+ Message implementing parts of the V2 payload specs in V1 frames for transitional support.
+ Network ID (0 for broadcast)
+ System ID (0 for broadcast)
+ Component ID (0 for broadcast)
+ A code that identifies the software component that understands this message (analogous to usb device classes or mime type strings). If this code is less than 32768, it is considered a 'registered' protocol extension and the corresponding entry should be added to https://github.com/mavlink/mavlink/extension-message-ids.xml. Software creators can register blocks of message IDs as needed (useful for GCS specific metadata, etc...). Message_types greater than 32767 are considered local experiments and should not be checked in to any widely distributed codebase.
+ Variable length payload. The length is defined by the remaining message length when subtracting the header and other fields. The entire content of this block is opaque unless you understand any the encoding message_type. The particular encoding used can be extension specific and might not always be documented as part of the mavlink specification.
+
+
+ Send raw controller memory. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Starting address of the debug variables
+ Version code of the type variable. 0=unknown, type ignored and assumed int16_t. 1=as below
+ Type code of the memory variables. for ver = 1: 0=16 x int16_t, 1=16 x uint16_t, 2=16 x Q15, 3=16 x 1Q14
+ Memory contents at specified address
+
+
+ Name
+ Timestamp
+ x
+ y
+ z
+
+
+ Send a key-value pair as float. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Timestamp (milliseconds since system boot)
+ Name of the debug variable
+ Floating point value
+
+
+ Send a key-value pair as integer. The use of this message is discouraged for normal packets, but a quite efficient way for testing new messages and getting experimental debug output.
+ Timestamp (milliseconds since system boot)
+ Name of the debug variable
+ Signed integer value
+
+
+ Status text message. These messages are printed in yellow in the COMM console of QGroundControl. WARNING: They consume quite some bandwidth, so use only for important status and error messages. If implemented wisely, these messages are buffered on the MCU and sent only at a limited rate (e.g. 10 Hz).
+ Severity of status. Relies on the definitions within RFC-5424. See enum MAV_SEVERITY.
+ Status text message, without null termination character
+
+
+ Send a debug value. The index is used to discriminate between values. These values show up in the plot of QGroundControl as DEBUG N.
+ Timestamp (milliseconds since system boot)
+ index of debug variable
+ DEBUG value
+
+
+
diff --git a/MAVLINK_msg/matrixpilot.xml b/MAVLINK_msg/matrixpilot.xml
new file mode 100644
index 0000000..29d368d
--- /dev/null
+++ b/MAVLINK_msg/matrixpilot.xml
@@ -0,0 +1,284 @@
+
+
+ common.xml
+
+
+
+
+
+
+
+ Action required when performing CMD_PREFLIGHT_STORAGE
+
+ Read all parameters from storage
+
+
+ Write all parameters to storage
+
+
+ Clear all parameters in storage
+
+
+ Read specific parameters from storage
+
+
+ Write specific parameters to storage
+
+
+ Clear specific parameters in storage
+
+
+ do nothing
+
+
+
+
+
+ Request storage of different parameter values and logs. This command will be only accepted if in pre-flight mode.
+ Storage action: Action defined by MAV_PREFLIGHT_STORAGE_ACTION_ADVANCED
+ Storage area as defined by parameter database
+ Storage flags as defined by parameter database
+ Empty
+ Empty
+ Empty
+ Empty
+
+
+
+
+
+
+
+
+ Depreciated but used as a compiler flag. Do not remove
+ System ID
+ Component ID
+
+
+ Reqest reading of flexifunction data
+ System ID
+ Component ID
+ Type of flexifunction data requested
+ index into data where needed
+
+
+ Flexifunction type and parameters for component at function index from buffer
+ System ID
+ Component ID
+ Function index
+ Total count of functions
+ Address in the flexifunction data, Set to 0xFFFF to use address in target memory
+ Size of the
+ Settings data
+
+
+ Flexifunction type and parameters for component at function index from buffer
+ System ID
+ Component ID
+ Function index
+ result of acknowledge, 0=fail, 1=good
+
+
+ Acknowldge sucess or failure of a flexifunction command
+ System ID
+ Component ID
+ 0=inputs, 1=outputs
+ index of first directory entry to write
+ count of directory entries to write
+ Settings data
+
+
+ Acknowldge sucess or failure of a flexifunction command
+ System ID
+ Component ID
+ 0=inputs, 1=outputs
+ index of first directory entry to write
+ count of directory entries to write
+ result of acknowledge, 0=fail, 1=good
+
+
+ Acknowldge sucess or failure of a flexifunction command
+ System ID
+ Component ID
+ Flexifunction command type
+
+
+ Acknowldge sucess or failure of a flexifunction command
+ Command acknowledged
+ result of acknowledge
+
+
+ Backwards compatible MAVLink version of SERIAL_UDB_EXTRA - F2: Format Part A
+ Serial UDB Extra Time
+ Serial UDB Extra Status
+ Serial UDB Extra Latitude
+ Serial UDB Extra Longitude
+ Serial UDB Extra Altitude
+ Serial UDB Extra Waypoint Index
+ Serial UDB Extra Rmat 0
+ Serial UDB Extra Rmat 1
+ Serial UDB Extra Rmat 2
+ Serial UDB Extra Rmat 3
+ Serial UDB Extra Rmat 4
+ Serial UDB Extra Rmat 5
+ Serial UDB Extra Rmat 6
+ Serial UDB Extra Rmat 7
+ Serial UDB Extra Rmat 8
+ Serial UDB Extra GPS Course Over Ground
+ Serial UDB Extra Speed Over Ground
+ Serial UDB Extra CPU Load
+ Serial UDB Extra Voltage in MilliVolts
+ Serial UDB Extra 3D IMU Air Speed
+ Serial UDB Extra Estimated Wind 0
+ Serial UDB Extra Estimated Wind 1
+ Serial UDB Extra Estimated Wind 2
+ Serial UDB Extra Magnetic Field Earth 0
+ Serial UDB Extra Magnetic Field Earth 1
+ Serial UDB Extra Magnetic Field Earth 2
+ Serial UDB Extra Number of Sattelites in View
+ Serial UDB Extra GPS Horizontal Dilution of Precision
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA - F2: Part B
+ Serial UDB Extra Time
+ Serial UDB Extra PWM Input Channel 1
+ Serial UDB Extra PWM Input Channel 2
+ Serial UDB Extra PWM Input Channel 3
+ Serial UDB Extra PWM Input Channel 4
+ Serial UDB Extra PWM Input Channel 5
+ Serial UDB Extra PWM Input Channel 6
+ Serial UDB Extra PWM Input Channel 7
+ Serial UDB Extra PWM Input Channel 8
+ Serial UDB Extra PWM Input Channel 9
+ Serial UDB Extra PWM Input Channel 10
+ Serial UDB Extra PWM Output Channel 1
+ Serial UDB Extra PWM Output Channel 2
+ Serial UDB Extra PWM Output Channel 3
+ Serial UDB Extra PWM Output Channel 4
+ Serial UDB Extra PWM Output Channel 5
+ Serial UDB Extra PWM Output Channel 6
+ Serial UDB Extra PWM Output Channel 7
+ Serial UDB Extra PWM Output Channel 8
+ Serial UDB Extra PWM Output Channel 9
+ Serial UDB Extra PWM Output Channel 10
+ Serial UDB Extra IMU Location X
+ Serial UDB Extra IMU Location Y
+ Serial UDB Extra IMU Location Z
+ Serial UDB Extra Status Flags
+ Serial UDB Extra Oscillator Failure Count
+ Serial UDB Extra IMU Velocity X
+ Serial UDB Extra IMU Velocity Y
+ Serial UDB Extra IMU Velocity Z
+ Serial UDB Extra Current Waypoint Goal X
+ Serial UDB Extra Current Waypoint Goal Y
+ Serial UDB Extra Current Waypoint Goal Z
+ Serial UDB Extra Stack Memory Free
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F4: format
+ Serial UDB Extra Roll Stabilization with Ailerons Enabled
+ Serial UDB Extra Roll Stabilization with Rudder Enabled
+ Serial UDB Extra Pitch Stabilization Enabled
+ Serial UDB Extra Yaw Stabilization using Rudder Enabled
+ Serial UDB Extra Yaw Stabilization using Ailerons Enabled
+ Serial UDB Extra Navigation with Ailerons Enabled
+ Serial UDB Extra Navigation with Rudder Enabled
+ Serial UDB Extra Type of Alitude Hold when in Stabilized Mode
+ Serial UDB Extra Type of Alitude Hold when in Waypoint Mode
+ Serial UDB Extra Firmware racing mode enabled
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F5: format
+ Serial UDB YAWKP_AILERON Gain for Proporional control of navigation
+ Serial UDB YAWKD_AILERON Gain for Rate control of navigation
+ Serial UDB Extra ROLLKP Gain for Proportional control of roll stabilization
+ Serial UDB Extra ROLLKD Gain for Rate control of roll stabilization
+ YAW_STABILIZATION_AILERON Proportional control
+ Gain For Boosting Manual Aileron control When Plane Stabilized
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F6: format
+ Serial UDB Extra PITCHGAIN Proportional Control
+ Serial UDB Extra Pitch Rate Control
+ Serial UDB Extra Rudder to Elevator Mix
+ Serial UDB Extra Roll to Elevator Mix
+ Gain For Boosting Manual Elevator control When Plane Stabilized
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F7: format
+ Serial UDB YAWKP_RUDDER Gain for Proporional control of navigation
+ Serial UDB YAWKD_RUDDER Gain for Rate control of navigation
+ Serial UDB Extra ROLLKP_RUDDER Gain for Proportional control of roll stabilization
+ Serial UDB Extra ROLLKD_RUDDER Gain for Rate control of roll stabilization
+ SERIAL UDB EXTRA Rudder Boost Gain to Manual Control when stabilized
+ Serial UDB Extra Return To Landing - Angle to Pitch Plane Down
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F8: format
+ Serial UDB Extra HEIGHT_TARGET_MAX
+ Serial UDB Extra HEIGHT_TARGET_MIN
+ Serial UDB Extra ALT_HOLD_THROTTLE_MIN
+ Serial UDB Extra ALT_HOLD_THROTTLE_MAX
+ Serial UDB Extra ALT_HOLD_PITCH_MIN
+ Serial UDB Extra ALT_HOLD_PITCH_MAX
+ Serial UDB Extra ALT_HOLD_PITCH_HIGH
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F13: format
+ Serial UDB Extra GPS Week Number
+ Serial UDB Extra MP Origin Latitude
+ Serial UDB Extra MP Origin Longitude
+ Serial UDB Extra MP Origin Altitude Above Sea Level
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F14: format
+ Serial UDB Extra Wind Estimation Enabled
+ Serial UDB Extra Type of GPS Unit
+ Serial UDB Extra Dead Reckoning Enabled
+ Serial UDB Extra Type of UDB Hardware
+ Serial UDB Extra Type of Airframe
+ Serial UDB Extra Reboot Regitster of DSPIC
+ Serial UDB Extra Last dspic Trap Flags
+ Serial UDB Extra Type Program Address of Last Trap
+ Serial UDB Extra Number of Ocillator Failures
+ Serial UDB Extra UDB Internal Clock Configuration
+ Serial UDB Extra Type of Flight Plan
+
+
+ Backwards compatible version of SERIAL_UDB_EXTRA F15 and F16: format
+ Serial UDB Extra Model Name Of Vehicle
+ Serial UDB Extra Registraton Number of Vehicle
+
+
+ Serial UDB Extra Name of Expected Lead Pilot
+ Serial UDB Extra URL of Lead Pilot or Team
+
+
+ The altitude measured by sensors and IMU
+ Timestamp (milliseconds since system boot)
+ GPS altitude in meters, expressed as * 1000 (millimeters), above MSL
+ IMU altitude above ground in meters, expressed as * 1000 (millimeters)
+ barometeric altitude above ground in meters, expressed as * 1000 (millimeters)
+ Optical flow altitude above ground in meters, expressed as * 1000 (millimeters)
+ Rangefinder Altitude above ground in meters, expressed as * 1000 (millimeters)
+ Extra altitude above ground in meters, expressed as * 1000 (millimeters)
+
+
+ The airspeed measured by sensors and IMU
+ Timestamp (milliseconds since system boot)
+ Airspeed estimate from IMU, cm/s
+ Pitot measured forward airpseed, cm/s
+ Hot wire anenometer measured airspeed, cm/s
+ Ultrasonic measured airspeed, cm/s
+ Angle of attack sensor, degrees * 10
+ Yaw angle sensor, degrees * 10
+
+
+
+
diff --git a/MAVLINK_msg/minimal.xml b/MAVLINK_msg/minimal.xml
new file mode 100644
index 0000000..88985a5
--- /dev/null
+++ b/MAVLINK_msg/minimal.xml
@@ -0,0 +1,189 @@
+
+
+ 2
+
+
+ Micro air vehicle / autopilot classes. This identifies the individual model.
+
+ Generic autopilot, full support for everything
+
+
+ PIXHAWK autopilot, http://pixhawk.ethz.ch
+
+
+ SLUGS autopilot, http://slugsuav.soe.ucsc.edu
+
+
+ ArduPilotMega / ArduCopter, http://diydrones.com
+
+
+ OpenPilot, http://openpilot.org
+
+
+ Generic autopilot only supporting simple waypoints
+
+
+ Generic autopilot supporting waypoints and other simple navigation commands
+
+
+ Generic autopilot supporting the full mission command set
+
+
+ No valid autopilot, e.g. a GCS or other MAVLink component
+
+
+ PPZ UAV - http://nongnu.org/paparazzi
+
+
+ UAV Dev Board
+
+
+ FlexiPilot
+
+
+
+
+ Generic micro air vehicle.
+
+
+ Fixed wing aircraft.
+
+
+ Quadrotor
+
+
+ Coaxial helicopter
+
+
+ Normal helicopter with tail rotor.
+
+
+ Ground installation
+
+
+ Operator control unit / ground control station
+
+
+ Airship, controlled
+
+
+ Free balloon, uncontrolled
+
+
+ Rocket
+
+
+ Ground rover
+
+
+ Surface vessel, boat, ship
+
+
+ Submarine
+
+
+ Hexarotor
+
+
+ Octorotor
+
+
+ Octorotor
+
+
+ Flapping wing
+
+
+
+ These flags encode the MAV mode.
+
+ 0b10000000 MAV safety set to armed. Motors are enabled / running / can start. Ready to fly.
+
+
+ 0b01000000 remote control input is enabled.
+
+
+ 0b00100000 hardware in the loop simulation. All motors / actuators are blocked, but internal software is full operational.
+
+
+ 0b00010000 system stabilizes electronically its attitude (and optionally position). It needs however further control inputs to move around.
+
+
+ 0b00001000 guided mode enabled, system flies MISSIONs / mission items.
+
+
+ 0b00000100 autonomous mode enabled, system finds its own goal positions. Guided flag can be set or not, depends on the actual implementation.
+
+
+ 0b00000010 system has a test mode enabled. This flag is intended for temporary system tests and should not be used for stable implementations.
+
+
+ 0b00000001 Reserved for future use.
+
+
+
+ These values encode the bit positions of the decode position. These values can be used to read the value of a flag bit by combining the base_mode variable with AND with the flag position value. The result will be either 0 or 1, depending on if the flag is set or not.
+
+ First bit: 10000000
+
+
+ Second bit: 01000000
+
+
+ Third bit: 00100000
+
+
+ Fourth bit: 00010000
+
+
+ Fifth bit: 00001000
+
+
+ Sixt bit: 00000100
+
+
+ Seventh bit: 00000010
+
+
+ Eighth bit: 00000001
+
+
+
+
+ Uninitialized system, state is unknown.
+
+
+ System is booting up.
+
+
+ System is calibrating and not flight-ready.
+
+
+ System is grounded and on standby. It can be launched any time.
+
+
+ System is active and might be already airborne. Motors are engaged.
+
+
+ System is in a non-normal flight mode. It can however still navigate.
+
+
+ System is in a non-normal flight mode. It lost control over parts or over the whole airframe. It is in mayday and going down.
+
+
+ System just initialized its power-down sequence, will shut down now.
+
+
+
+
+
+ The heartbeat message shows that a system is present and responding. The type of the MAV and Autopilot hardware allow the receiving system to treat further messages from this system appropriate (e.g. by laying out the user interface based on the autopilot).
+ Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
+ Autopilot type / class. defined in MAV_AUTOPILOT ENUM
+ System mode bitfield, see MAV_MODE_FLAGS ENUM in mavlink/include/mavlink_types.h
+ A bitfield for use for autopilot-specific flags.
+ System status flag, see MAV_STATE ENUM
+ MAVLink version
+
+
+
diff --git a/MAVLINK_msg/oroca_bldc.xml b/MAVLINK_msg/oroca_bldc.xml
new file mode 100644
index 0000000..f3d93bd
--- /dev/null
+++ b/MAVLINK_msg/oroca_bldc.xml
@@ -0,0 +1,14 @@
+
+
+ common.xml
+ 3
+
+
+
+
+
+ Message For set angular velocity
+ velocity value
+
+
+
diff --git a/MAVLINK_msg/paparazzi.xml b/MAVLINK_msg/paparazzi.xml
new file mode 100644
index 0000000..2200075
--- /dev/null
+++ b/MAVLINK_msg/paparazzi.xml
@@ -0,0 +1,38 @@
+
+
+ common.xml
+ 3
+
+
+
+
+
+ Message encoding a mission script item. This message is emitted upon a request for the next script item.
+ System ID
+ Component ID
+ Sequence
+ The name of the mission script, NULL terminated.
+
+
+ Request script item with the sequence number seq. The response of the system to this message should be a SCRIPT_ITEM message.
+ System ID
+ Component ID
+ Sequence
+
+
+ Request the overall list of mission items from the system/component.
+ System ID
+ Component ID
+
+
+ This message is emitted as response to SCRIPT_REQUEST_LIST by the MAV to get the number of mission scripts.
+ System ID
+ Component ID
+ Number of script items in the sequence
+
+
+ This message informs about the currently active SCRIPT.
+ Active Sequence
+
+
+
diff --git a/MAVLINK_msg/python_array_test.xml b/MAVLINK_msg/python_array_test.xml
new file mode 100644
index 0000000..c015085
--- /dev/null
+++ b/MAVLINK_msg/python_array_test.xml
@@ -0,0 +1,67 @@
+
+
+
+common.xml
+
+
+ Array test #0.
+ Stub field
+ Value array
+ Value array
+ Value array
+ Value array
+
+
+ Array test #1.
+ Value array
+
+
+ Array test #3.
+ Stub field
+ Value array
+
+
+ Array test #4.
+ Value array
+ Stub field
+
+
+ Array test #5.
+ Value array
+ Value array
+
+
+ Array test #6.
+ Stub field
+ Stub field
+ Stub field
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+
+
+ Array test #7.
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+ Value array
+
+
+ Array test #8.
+ Stub field
+ Value array
+ Value array
+
+
+
diff --git a/MAVLINK_msg/slugs.xml b/MAVLINK_msg/slugs.xml
new file mode 100644
index 0000000..a985eab
--- /dev/null
+++ b/MAVLINK_msg/slugs.xml
@@ -0,0 +1,339 @@
+
+
+ common.xml
+
+
+
+
+
+ Does nothing.
+ 1 to arm, 0 to disarm
+
+
+
+
+
+ Return vehicle to base.
+ 0: return to base, 1: track mobile base
+
+
+ Stops the vehicle from returning to base and resumes flight.
+
+
+ Turns the vehicle's visible or infrared lights on or off.
+ 0: visible lights, 1: infrared lights
+ 0: turn on, 1: turn off
+
+
+ Requests vehicle to send current mid-level commands to ground station.
+
+
+ Requests storage of mid-level commands.
+ Mid-level command storage: 0: read from flash/EEPROM, 1: write to flash/EEPROM
+
+
+
+
+
+ Slugs-specific navigation modes.
+
+ No change to SLUGS mode.
+
+
+ Vehicle is in liftoff mode.
+
+
+ Vehicle is in passthrough mode, being controlled by a pilot.
+
+
+ Vehicle is in waypoint mode, navigating to waypoints.
+
+
+ Vehicle is executing mid-level commands.
+
+
+ Vehicle is returning to the home location.
+
+
+ Vehicle is landing.
+
+
+ Lost connection with vehicle.
+
+
+ Vehicle is in selective passthrough mode, where selected surfaces are being manually controlled.
+
+
+ Vehicle is in ISR mode, performing reconaissance at a point specified by ISR_LOCATION message.
+
+
+ Vehicle is patrolling along lines between waypoints.
+
+
+ Vehicle is grounded or an error has occurred.
+
+
+
+
+ These flags encode the control surfaces for selective passthrough mode. If a bit is set then the pilot console
+ has control of the surface, and if not then the autopilot has control of the surface.
+
+ 0b10000000 Throttle control passes through to pilot console.
+
+
+ 0b01000000 Left aileron control passes through to pilot console.
+
+
+ 0b00100000 Right aileron control passes through to pilot console.
+
+
+ 0b00010000 Rudder control passes through to pilot console.
+
+
+ 0b00001000 Left elevator control passes through to pilot console.
+
+
+ 0b00000100 Right elevator control passes through to pilot console.
+
+
+ 0b00000010 Left flap control passes through to pilot console.
+
+
+ 0b00000001 Right flap control passes through to pilot console.
+
+
+
+
+
+
+
+ Sensor and DSC control loads.
+ Sensor DSC Load
+ Control DSC Load
+ Battery Voltage in millivolts
+
+
+
+ Accelerometer and gyro biases.
+ Accelerometer X bias (m/s)
+ Accelerometer Y bias (m/s)
+ Accelerometer Z bias (m/s)
+ Gyro X bias (rad/s)
+ Gyro Y bias (rad/s)
+ Gyro Z bias (rad/s)
+
+
+
+ Configurable diagnostic messages.
+ Diagnostic float 1
+ Diagnostic float 2
+ Diagnostic float 3
+ Diagnostic short 1
+ Diagnostic short 2
+ Diagnostic short 3
+
+
+
+ Data used in the navigation algorithm.
+ Measured Airspeed prior to the nav filter in m/s
+ Commanded Roll
+ Commanded Pitch
+ Commanded Turn rate
+ Y component of the body acceleration
+ Total Distance to Run on this leg of Navigation
+ Remaining distance to Run on this leg of Navigation
+ Origin WP
+ Destination WP
+ Commanded altitude in 0.1 m
+
+
+
+ Configurable data log probes to be used inside Simulink
+ Log value 1
+ Log value 2
+ Log value 3
+ Log value 4
+ Log value 5
+ Log value 6
+
+
+
+ Pilot console PWM messges.
+ Year reported by Gps
+ Month reported by Gps
+ Day reported by Gps
+ Hour reported by Gps
+ Min reported by Gps
+ Sec reported by Gps
+ Clock Status. See table 47 page 211 OEMStar Manual
+ Visible satellites reported by Gps
+ Used satellites in Solution
+ GPS+GLONASS satellites in Solution
+ GPS and GLONASS usage mask (bit 0 GPS_used? bit_4 GLONASS_used?)
+ Percent used GPS
+
+
+
+ Mid Level commands sent from the GS to the autopilot. These are only sent when being operated in mid-level commands mode from the ground.
+ The system setting the commands
+ Commanded Altitude in meters
+ Commanded Airspeed in m/s
+ Commanded Turnrate in rad/s
+
+
+
+ This message sets the control surfaces for selective passthrough mode.
+ The system setting the commands
+ Bitfield containing the passthrough configuration, see CONTROL_SURFACE_FLAG ENUM.
+
+
+
+ Orders generated to the SLUGS camera mount.
+ The system reporting the action
+ Order the mount to pan: -1 left, 0 No pan motion, +1 right
+ Order the mount to tilt: -1 down, 0 No tilt motion, +1 up
+ Order the zoom values 0 to 10
+ Orders the camera mount to move home. The other fields are ignored when this field is set. 1: move home, 0 ignored
+
+
+
+ Control for surface; pending and order to origin.
+ The system setting the commands
+ ID control surface send 0: throttle 1: aileron 2: elevator 3: rudder
+ Pending
+ Order to origin
+
+
+
+
+
+
+ Transmits the last known position of the mobile GS to the UAV. Very relevant when Track Mobile is enabled
+ The system reporting the action
+ Mobile Latitude
+ Mobile Longitude
+
+
+
+ Control for camara.
+ The system setting the commands
+ ID 0: brightness 1: aperture 2: iris 3: ICR 4: backlight
+ 1: up/on 2: down/off 3: auto/reset/no action
+
+
+
+ Transmits the position of watch
+ The system reporting the action
+ ISR Latitude
+ ISR Longitude
+ ISR Height
+ Option 1
+ Option 2
+ Option 3
+
+
+
+
+
+
+ Transmits the readings from the voltage and current sensors
+ It is the value of reading 2: 0 - Current, 1 - Foreward Sonar, 2 - Back Sonar, 3 - RPM
+ Voltage in uS of PWM. 0 uS = 0V, 20 uS = 21.5V
+ Depends on the value of r2Type (0) Current consumption in uS of PWM, 20 uS = 90Amp (1) Distance in cm (2) Distance in cm (3) Absolute value
+
+
+
+ Transmits the actual Pan, Tilt and Zoom values of the camera unit
+ The actual Zoom Value
+ The Pan value in 10ths of degree
+ The Tilt value in 10ths of degree
+
+
+
+ Transmits the actual status values UAV in flight
+ The ID system reporting the action
+ Latitude UAV
+ Longitude UAV
+ Altitude UAV
+ Speed UAV
+ Course UAV
+
+
+
+ This contains the status of the GPS readings
+ Number of times checksum has failed
+ The quality indicator, 0=fix not available or invalid, 1=GPS fix, 2=C/A differential GPS, 6=Dead reckoning mode, 7=Manual input mode (fixed position), 8=Simulator mode, 9= WAAS a
+ Indicates if GN, GL or GP messages are being received
+ A = data valid, V = data invalid
+ Magnetic variation, degrees
+ Magnetic variation direction E/W. Easterly variation (E) subtracts from True course and Westerly variation (W) adds to True course
+ Positioning system mode indicator. A - Autonomous;D-Differential; E-Estimated (dead reckoning) mode;M-Manual input; N-Data not valid
+
+
+
+ Transmits the diagnostics data from the Novatel OEMStar GPS
+ The Time Status. See Table 8 page 27 Novatel OEMStar Manual
+ Status Bitfield. See table 69 page 350 Novatel OEMstar Manual
+ solution Status. See table 44 page 197
+ position type. See table 43 page 196
+ velocity type. See table 43 page 196
+ Age of the position solution in seconds
+ Times the CRC has failed since boot
+
+
+
+ Diagnostic data Sensor MCU
+ Float field 1
+ Float field 2
+ Int 16 field 1
+ Int 8 field 1
+
+
+
+
+ The boot message indicates that a system is starting. The onboard software version allows to keep track of onboard soft/firmware revisions. This message allows the sensor and control MCUs to communicate version numbers on startup.
+ The onboard software version
+
+
+
diff --git a/MAVLINK_msg/test.xml b/MAVLINK_msg/test.xml
new file mode 100644
index 0000000..02bc032
--- /dev/null
+++ b/MAVLINK_msg/test.xml
@@ -0,0 +1,31 @@
+
+
+ 3
+
+
+ Test all field types
+ char
+ string
+ uint8_t
+ uint16_t
+ uint32_t
+ uint64_t
+ int8_t
+ int16_t
+ int32_t
+ int64_t
+ float
+ double
+ uint8_t_array
+ uint16_t_array
+ uint32_t_array
+ uint64_t_array
+ int8_t_array
+ int16_t_array
+ int32_t_array
+ int64_t_array
+ float_array
+ double_array
+
+
+
diff --git a/MAVLINK_msg/ualberta.xml b/MAVLINK_msg/ualberta.xml
new file mode 100644
index 0000000..bb57e84
--- /dev/null
+++ b/MAVLINK_msg/ualberta.xml
@@ -0,0 +1,76 @@
+
+
+ common.xml
+
+
+ Available autopilot modes for ualberta uav
+
+ Raw input pulse widts sent to output
+
+
+ Inputs are normalized using calibration, the converted back to raw pulse widths for output
+
+
+ dfsdfs
+
+
+ dfsfds
+
+
+ dfsdfsdfs
+
+
+
+ Navigation filter mode
+
+
+ AHRS mode
+
+
+ INS/GPS initialization mode
+
+
+ INS/GPS mode
+
+
+
+ Mode currently commanded by pilot
+
+ sdf
+
+
+ dfs
+
+
+ Rotomotion mode
+
+
+
+
+
+ Accelerometer and Gyro biases from the navigation filter
+ Timestamp (microseconds)
+ b_f[0]
+ b_f[1]
+ b_f[2]
+ b_f[0]
+ b_f[1]
+ b_f[2]
+
+
+ Complete set of calibration parameters for the radio
+ Aileron setpoints: left, center, right
+ Elevator setpoints: nose down, center, nose up
+ Rudder setpoints: nose left, center, nose right
+ Tail gyro mode/gain setpoints: heading hold, rate mode
+ Pitch curve setpoints (every 25%)
+ Throttle curve setpoints (every 25%)
+
+
+ System status specific to ualberta uav
+ System mode, see UALBERTA_AUTOPILOT_MODE ENUM
+ Navigation mode, see UALBERTA_NAV_MODE ENUM
+ Pilot mode, see UALBERTA_PILOT_MODE
+
+
+
diff --git a/PSIM_simulation/05715872.pdf b/PSIM_simulation/05715872.pdf
new file mode 100644
index 0000000..93ba7d7
Binary files /dev/null and b/PSIM_simulation/05715872.pdf differ
diff --git a/PSIM_simulation/ANF_PLL.psimsch b/PSIM_simulation/ANF_PLL.psimsch
new file mode 100644
index 0000000..36dedf5
Binary files /dev/null and b/PSIM_simulation/ANF_PLL.psimsch differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/PMSM.psimsch b/PSIM_simulation/hallsensor/code/Debug/PMSM.psimsch
new file mode 100644
index 0000000..a5ffb46
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/PMSM.psimsch differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/param_file.txt" b/PSIM_simulation/hallsensor/code/Debug/param_file.txt
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/param_file.txt"
rename to PSIM_simulation/hallsensor/code/Debug/param_file.txt
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.Build.CppClean.log b/PSIM_simulation/hallsensor/code/Debug/rms_dll.Build.CppClean.log
new file mode 100644
index 0000000..e27081e
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/Debug/rms_dll.Build.CppClean.log
@@ -0,0 +1,6 @@
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\cl.command.1.tlog
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\CL.read.1.tlog
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\CL.write.1.tlog
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.write.1.tlog
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\vc100.idb
+D:\GIT\OROCA_BLDC_DEV\PSIM_SIMULATION\HALLSENSOR\CODE\DEBUG\VC100.PDB
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll b/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll
new file mode 100644
index 0000000..f5f65c2
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest" b/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.embed.manifest
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest"
rename to PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.embed.manifest
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest.res" b/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.embed.manifest.res
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest.res"
rename to PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.embed.manifest.res
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.intermediate.manifest" b/PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.intermediate.manifest
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll.intermediate.manifest"
rename to PSIM_simulation/hallsensor/code/Debug/rms_dll.dll.intermediate.manifest
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.exp b/PSIM_simulation/hallsensor/code/Debug/rms_dll.exp
new file mode 100644
index 0000000..68e4f7c
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.exp differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.ilk b/PSIM_simulation/hallsensor/code/Debug/rms_dll.ilk
new file mode 100644
index 0000000..64b3ee0
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.ilk differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.lastbuildstate b/PSIM_simulation/hallsensor/code/Debug/rms_dll.lastbuildstate
new file mode 100644
index 0000000..0cc41bc
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/Debug/rms_dll.lastbuildstate
@@ -0,0 +1,2 @@
+#v4.0:v100:false
+Debug|Win32|D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\|
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.lib b/PSIM_simulation/hallsensor/code/Debug/rms_dll.lib
new file mode 100644
index 0000000..0bb65fc
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.lib differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.log b/PSIM_simulation/hallsensor/code/Debug/rms_dll.log
new file mode 100644
index 0000000..a86a34b
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/Debug/rms_dll.log
@@ -0,0 +1,31 @@
+빌드 시작: 2016-07-02 ì˜¤ì „ 3:55:31
+ 1>2 ë…¸ë“œì˜ "D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj" 프로ì 트(build 대ìƒ)입니다.
+ 1>InitializeBuildStatus:
+ "AlwaysCreate"ì´(ê°€) ì§€ì •ë˜ì—ˆê¸° ë•Œë¬¸ì— ".\Debug\rms_dll.unsuccessfulbuild"ì„(를) ë§Œë“¤ê³ ìžˆìŠµë‹ˆë‹¤.
+ ClCompile:
+ C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC\bin\CL.exe /c /ZI /nologo /W3 /WX- /Od /Oy- /D WIN32 /D _DEBUG /D _WINDOWS /D _USRDLL /D RMS_DLL_EXPORTS /D _VC80_UPGRADE=0x0600 /D _WINDLL /D _MBCS /Gm /EHsc /RTC1 /MTd /GS /Gy- /fp:precise /Zc:wchar_t /Zc:forScope /Fo".\Debug\\" /Fd".\Debug\vc100.pdb" /Gd /TP /analyze- /errorReport:prompt rms_dll.cpp
+ rms_dll.cpp
+ 1>d:\git\oroca_bldc_dev\psim_simulation\hallsensor\code\rms_dll.cpp(58): warning C4305: '초기화 중' : 'double'ì—ì„œ 'float'(으)ë¡œ 잘립니다.
+ 1>d:\git\oroca_bldc_dev\psim_simulation\hallsensor\code\rms_dll.cpp(59): warning C4305: '초기화 중' : 'double'ì—ì„œ 'float'(으)ë¡œ 잘립니다.
+ 1>d:\git\oroca_bldc_dev\psim_simulation\hallsensor\code\rms_dll.cpp(134): warning C4244: '=' : 'double'ì—ì„œ 'float'(으)ë¡œ 변환하면서 ë°ì´í„°ê°€ ì†ì‹¤ë 수 있습니다.
+ 1>d:\git\oroca_bldc_dev\psim_simulation\hallsensor\code\rms_dll.cpp(135): warning C4244: '=' : 'double'ì—ì„œ 'float'(으)ë¡œ 변환하면서 ë°ì´í„°ê°€ ì†ì‹¤ë 수 있습니다.
+ 1>d:\git\oroca_bldc_dev\psim_simulation\hallsensor\code\rms_dll.cpp(172): warning C4305: '=' : 'double'ì—ì„œ 'float'(으)ë¡œ 잘립니다.
+ ManifestResourceCompile:
+ ëª¨ë“ ì¶œë ¥ì´ ìµœì‹ ìƒíƒœìž…니다.
+ Link:
+ C:\Program Files (x86)\Microsoft Visual Studio 10.0\VC\bin\link.exe /ERRORREPORT:PROMPT /OUT:".\Debug\rms_dll.dll" /INCREMENTAL /NOLOGO odbc32.lib odbccp32.lib kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /DEF:".\rms_dll.def" /MANIFEST /ManifestFile:".\Debug\rms_dll.dll.intermediate.manifest" /MANIFESTUAC:"level='asInvoker' uiAccess='false'" /DEBUG /PDB:"D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.pdb" /SUBSYSTEM:CONSOLE /TLBID:1 /DYNAMICBASE /NXCOMPAT /IMPLIB:".\Debug\rms_dll.lib" /MACHINE:X86 /DLL .\Debug\rms_dll.dll.embed.manifest.res
+ .\Debug\rms_dll.obj
+ Manifest:
+ C:\Program Files (x86)\Microsoft SDKs\Windows\v7.0A\bin\mt.exe /nologo /verbose /out:".\Debug\rms_dll.dll.embed.manifest" /manifest .\Debug\rms_dll.dll.intermediate.manifest
+ ëª¨ë“ ì¶œë ¥ì´ ìµœì‹ ìƒíƒœìž…니다.
+ LinkEmbedManifest:
+ ëª¨ë“ ì¶œë ¥ì´ ìµœì‹ ìƒíƒœìž…니다.
+ rms_dll.vcxproj -> D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\.\Debug\rms_dll.dll
+ FinalizeBuildStatus:
+ ".\Debug\rms_dll.unsuccessfulbuild" 파ì¼ì„ ì‚ì œí•˜ê³ ìžˆìŠµë‹ˆë‹¤.
+ ".\Debug\rms_dll.lastbuildstate"ì— ì—°ê²°(touching)í•˜ê³ ìžˆìŠµë‹ˆë‹¤.
+ 1>"D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj" 프로ì 트를 빌드했습니다(build 대ìƒ).
+
+빌드했습니다.
+
+경과 시간: 00:00:01.56
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.obj b/PSIM_simulation/hallsensor/code/Debug/rms_dll.obj
new file mode 100644
index 0000000..1b7bb72
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.obj differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.pdb b/PSIM_simulation/hallsensor/code/Debug/rms_dll.pdb
new file mode 100644
index 0000000..7a7ec18
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.pdb differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache b/PSIM_simulation/hallsensor/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache
new file mode 100644
index 0000000..669517d
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/rms_dll.write.1.tlog b/PSIM_simulation/hallsensor/code/Debug/rms_dll.write.1.tlog
new file mode 100644
index 0000000..4ed9f1d
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/Debug/rms_dll.write.1.tlog
@@ -0,0 +1,205 @@
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.exp
+^D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\rms_dll.vcxproj
+D:\git\oroca_bldc_dev\PSIM_simulation\hallsensor\code\Debug\rms_dll.lib
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diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll_manifest.rc" b/PSIM_simulation/hallsensor/code/Debug/rms_dll_manifest.rc
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll_manifest.rc"
rename to PSIM_simulation/hallsensor/code/Debug/rms_dll_manifest.rc
diff --git a/PSIM_simulation/hallsensor/code/Debug/vc100.idb b/PSIM_simulation/hallsensor/code/Debug/vc100.idb
new file mode 100644
index 0000000..beb5ea3
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/vc100.idb differ
diff --git a/PSIM_simulation/hallsensor/code/Debug/vc100.pdb b/PSIM_simulation/hallsensor/code/Debug/vc100.pdb
new file mode 100644
index 0000000..ecc910d
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/Debug/vc100.pdb differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IAB" b/PSIM_simulation/hallsensor/code/Untitled Project.IAB
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IAB"
rename to PSIM_simulation/hallsensor/code/Untitled Project.IAB
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IAD" b/PSIM_simulation/hallsensor/code/Untitled Project.IAD
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IAD"
rename to PSIM_simulation/hallsensor/code/Untitled Project.IAD
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IMB" b/PSIM_simulation/hallsensor/code/Untitled Project.IMB
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IMB"
rename to PSIM_simulation/hallsensor/code/Untitled Project.IMB
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IMD" b/PSIM_simulation/hallsensor/code/Untitled Project.IMD
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.IMD"
rename to PSIM_simulation/hallsensor/code/Untitled Project.IMD
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PFI" b/PSIM_simulation/hallsensor/code/Untitled Project.PFI
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PFI"
rename to PSIM_simulation/hallsensor/code/Untitled Project.PFI
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PO" b/PSIM_simulation/hallsensor/code/Untitled Project.PO
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PO"
rename to PSIM_simulation/hallsensor/code/Untitled Project.PO
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PR" b/PSIM_simulation/hallsensor/code/Untitled Project.PR
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PR"
rename to PSIM_simulation/hallsensor/code/Untitled Project.PR
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PRI" b/PSIM_simulation/hallsensor/code/Untitled Project.PRI
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PRI"
rename to PSIM_simulation/hallsensor/code/Untitled Project.PRI
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PS" b/PSIM_simulation/hallsensor/code/Untitled Project.PS
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.PS"
rename to PSIM_simulation/hallsensor/code/Untitled Project.PS
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.SearchResults" b/PSIM_simulation/hallsensor/code/Untitled Project.SearchResults
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.SearchResults"
rename to PSIM_simulation/hallsensor/code/Untitled Project.SearchResults
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.WK3" b/PSIM_simulation/hallsensor/code/Untitled Project.WK3
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Untitled Project.WK3"
rename to PSIM_simulation/hallsensor/code/Untitled Project.WK3
diff --git a/PSIM_simulation/hallsensor/code/ipch/rms_dll-fe6b92ea/rms_dll-d33337a3.ipch b/PSIM_simulation/hallsensor/code/ipch/rms_dll-fe6b92ea/rms_dll-d33337a3.ipch
new file mode 100644
index 0000000..4bd857c
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diff --git a/PSIM_simulation/hallsensor/code/rms_dll.cpp b/PSIM_simulation/hallsensor/code/rms_dll.cpp
new file mode 100644
index 0000000..6164695
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/rms_dll.cpp
@@ -0,0 +1,213 @@
+// This is a sample C program for Microsoft C/C++ 6.0.
+// The generated DLL is to be linked to PSIM.
+
+// To compile the program into DLL, you can open the workspace file "msvc_dll.dsw"
+// as provided.
+
+// This sample program calculates the rms of a 60-Hz input in[0], and
+// stores the output in out[0].
+
+// Variables:
+// t: Time, passed from PSIM by value
+// delt: Time step, passed from PSIM by value
+// in: input array, passed from PSIM by reference
+// out: output array, sent back to PSIM (Note: the values of out[*] can
+// be modified in PSIM)
+
+// The maximum length of the input and output array "in" and "out" is 30.
+
+// Because we used static/global variables in this example, the DLL
+// can only be used once per schematic file.
+
+#include
+
+//Defines
+typedef unsigned short WORD;
+//typedef signed int SFRAC16;
+typedef unsigned char BYTE;
+//typedef unsigned char BOOL;
+// Structs
+#define Bound_limit(in,lim) ((in > (lim)) ? (lim) : ((in < -(lim)) ? -(lim) : in))
+
+#define Fsamp 16000
+#define Tsamp 1./16000
+
+#define PI 3.14159265358979f
+
+float HallPLLlead = 0.0;
+float HallPLLlead1 = 0.0;
+float HallPLLlead2 = 0.0;
+float HallPLLqe = 0.0;
+float HallPLLde = 0.0;
+float HallPLLde1 = 0.0;
+float HallPLLdef = 0.0;
+float HallPLLdef1 = 0.0;
+#define WMd 2.*3.141592654*180.
+#define AMd (WMd-(2./Tsamp))/(WMd+(2./Tsamp))
+#define BMd WMd/(WMd+(2./Tsamp))
+
+static volatile float Theta = 0.0;
+static volatile float ThetaCal = 0.0;
+
+static volatile float Futi = 0.0;
+float Wpll = 0.0;
+float Wpll1 = 0.0;
+float Wpllp = 0.0;
+float Wplli = 0.0;
+
+float Kpll = 0.428;
+float Ipll = 28.83;
+
+
+static float Hall_KA = 0.0;
+static float Hall_KB = 0.0;
+
+static float Hall_PIout = 0.0;
+static float Hall_Err0 = 0.0;
+
+float HallPLLA = 0.0f;
+float HallPLLA1 = 0.0f;
+float HallPLLB = 0.0f;
+
+float HallPLLA_cos3th = 0.0f;
+float HallPLLA_sin3th = 0.0f;
+float HallPLLB_sin3th = 0.0f;
+float HallPLLB_cos3th = 0.0f;
+
+float HallPLLA_cos3th_Integral = 0.0f;
+float HallPLLA_sin3th_Integral = 0.0f;
+float HallPLLB_sin3th_Integral = 0.0f;
+float HallPLLB_cos3th_Integral = 0.0f;
+
+float HallPLLA_old = 0.0f;
+float HallPLLB_old = 0.0f;
+
+float HallPLLA_filtered = 0.0f;
+float HallPLLB_filtered = 0.0f;
+
+float Hall_SinCos;
+float Hall_CosSin;
+
+float Gamma = 1.0f;
+
+float costh;
+float sinth;
+
+float Asin3th = 0.0f;
+float Acos3th = 0.0f;
+float Bsin3th= 0.0f;
+float Bcos3th= 0.0f;
+float ANF_PLLA= 0.0f;
+float ANF_PLLB= 0.0f;
+
+float cos3th;
+float sin3th;
+
+float wt=0.0f;
+float sinwt=0.0f;
+
+static double IN[12],OUT[12];
+
+__declspec(dllexport) void simuser (double t, double delt, double *in, double *out)
+{
+// Place your code here............begin
+// Define "sum" as "static" in order to retain its value.
+ static double clk0=0.,clk1=0.;
+
+
+ IN[0] = in[0];
+ IN[1] = in[1];
+ IN[2] = in[2];
+ IN[3] = in[3];
+
+ IN[10] = in[10];
+
+
+
+ clk0 = in[11];
+ if(!clk0 && !clk1) //LOW
+ {
+
+ }
+ else if(clk0 && !clk1)// raising edge
+ {
+ HallPLLA = in[0];
+ HallPLLB = in[1];
+
+ cos3th = cosf(3.0f * Theta);
+ sin3th = sinf(3.0f * Theta);
+
+ HallPLLA_sin3th = HallPLLA * sin3th * Gamma;
+ HallPLLA_cos3th = HallPLLA * cos3th * Gamma;
+
+ HallPLLB_cos3th = HallPLLB* cos3th * Gamma;
+ HallPLLB_sin3th = HallPLLB * sin3th * Gamma;
+
+ HallPLLA_cos3th_Integral += HallPLLA_cos3th;
+ HallPLLA_sin3th_Integral += HallPLLA_sin3th;
+
+ HallPLLB_sin3th_Integral += HallPLLB_sin3th;
+ HallPLLB_cos3th_Integral += HallPLLB_cos3th;
+
+ Asin3th= HallPLLA_sin3th_Integral * sin3th;
+ Acos3th= HallPLLA_cos3th_Integral * cos3th;
+
+ Bsin3th= HallPLLB_sin3th_Integral * sin3th;
+ Bcos3th= HallPLLB_cos3th_Integral * cos3th;
+
+ ANF_PLLA = HallPLLA - Asin3th - Acos3th;
+ ANF_PLLB = HallPLLB - Bsin3th - Bcos3th;
+
+ costh = cosf(Theta);
+ sinth = sinf(Theta);
+
+ //Hall_SinCos = ANF_PLLA * costh;
+ //Hall_CosSin = ANF_PLLB * sinth;
+
+ Hall_SinCos = HallPLLA * costh;
+ Hall_CosSin = HallPLLB * sinth;
+
+ float err, tmp_kp, tmp_kpi;
+ tmp_kp = 0.5f;
+ tmp_kpi = (1.0f + 2.01f * Tsamp);
+ err = Hall_SinCos - Hall_CosSin;
+ Hall_PIout += ((tmp_kpi * err) - (tmp_kp * Hall_Err0));
+ Hall_PIout = Bound_limit(Hall_PIout, 10.0f);
+ Hall_Err0= err;
+
+ Theta += Hall_PIout ;
+ if((2.0f * PI) < Theta) Theta = Theta - (2.0f * PI);
+ else if(Theta < 0.0f) Theta = (2.0f * PI) + Theta;
+
+ sinwt = sinf(wt);
+ wt = wt + 0.01f;
+ if(2*PI < wt)wt=0;
+ }
+ else if(!clk0 && clk1)// falling edge
+ {
+
+ }
+ else if(clk0 && clk1)//HIGH
+ {
+
+ }
+ clk1 = clk0;
+
+
+ out[0] = Theta;
+ out[1] = costh;
+ out[2] = sinth;
+
+ out[3] =Hall_SinCos;
+ out[4] = Hall_CosSin;
+ out[5] = HallPLLA;
+ out[6] = HallPLLB;
+ out[7] = sinwt;
+ /*out[8] = ParkParm.qIq;
+ out[9] = ParkParm.qVd;
+ out[10] = ParkParm.qVq;
+ out[11] = ParkParm.qAngle ;*/
+
+
+// Place your code here............end
+}
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.def" b/PSIM_simulation/hallsensor/code/rms_dll.def
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.def"
rename to PSIM_simulation/hallsensor/code/rms_dll.def
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.dsp" b/PSIM_simulation/hallsensor/code/rms_dll.dsp
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.dsp"
rename to PSIM_simulation/hallsensor/code/rms_dll.dsp
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.dsw" b/PSIM_simulation/hallsensor/code/rms_dll.dsw
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.dsw"
rename to PSIM_simulation/hallsensor/code/rms_dll.dsw
diff --git a/PSIM_simulation/hallsensor/code/rms_dll.sdf b/PSIM_simulation/hallsensor/code/rms_dll.sdf
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index 0000000..64c8109
Binary files /dev/null and b/PSIM_simulation/hallsensor/code/rms_dll.sdf differ
diff --git a/PSIM_simulation/hallsensor/code/rms_dll.sln b/PSIM_simulation/hallsensor/code/rms_dll.sln
new file mode 100644
index 0000000..130f8d6
--- /dev/null
+++ b/PSIM_simulation/hallsensor/code/rms_dll.sln
@@ -0,0 +1,20 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Visual Studio 2010
+Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rms_dll", "rms_dll.vcxproj", "{04F6A1D9-7847-8EA3-5335-CC386F2F12DA}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ Debug|Win32 = Debug|Win32
+ Release|Win32 = Release|Win32
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {04F6A1D9-7847-8EA3-5335-CC386F2F12DA}.Debug|Win32.ActiveCfg = Debug|Win32
+ {04F6A1D9-7847-8EA3-5335-CC386F2F12DA}.Debug|Win32.Build.0 = Debug|Win32
+ {04F6A1D9-7847-8EA3-5335-CC386F2F12DA}.Release|Win32.ActiveCfg = Release|Win32
+ {04F6A1D9-7847-8EA3-5335-CC386F2F12DA}.Release|Win32.Build.0 = Release|Win32
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/PSIM_simulation/hallsensor/code/rms_dll.suo b/PSIM_simulation/hallsensor/code/rms_dll.suo
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similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.vcxproj"
rename to PSIM_simulation/hallsensor/code/rms_dll.vcxproj
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.vcxproj.filters" b/PSIM_simulation/hallsensor/code/rms_dll.vcxproj.filters
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.vcxproj.filters"
rename to PSIM_simulation/hallsensor/code/rms_dll.vcxproj.filters
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.vcxproj.user" b/PSIM_simulation/hallsensor/code/rms_dll.vcxproj.user
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.vcxproj.user"
rename to PSIM_simulation/hallsensor/code/rms_dll.vcxproj.user
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/PMSM.psimsch" b/PSIM_simulation/rms_dll_R150821/code/Debug/PMSM.psimsch
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/PMSM.psimsch"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/PMSM.psimsch
diff --git a/PSIM_simulation/rms_dll_R150821/code/Debug/param_file.txt b/PSIM_simulation/rms_dll_R150821/code/Debug/param_file.txt
new file mode 100644
index 0000000..4166837
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/Debug/param_file.txt
@@ -0,0 +1,21 @@
+(Global_Iq0)START=0 // 0: Disable PWM, 1: Enable PWM
+(Global_Iq0)LOOP_I=0 // 0: open loop, 1: close current loop.
+(Global_Iq0)LOOP_SP=0 // 0: open loop, 1: close speed loop.
+
+SpeedRef1 = 0.25 // Speed reference at the start. 0.25 pu
+IqRef1 = 0.15 // iq reference at the start 0.05 pu
+
+PI=3.14159265
+POLES=12 // Number of poles
+BASE_VOLTAGE=31.76 // Base peak phase voltage (volt)
+BASE_CURRENT=10 // Base peak phase current (amp)
+BASE_FREQ=200 // Base electrical frequency (Hz)
+BASE_RPM=120*(BASE_FREQ/POLES) //Base motor speed in rmp
+
+RS=0.79 // Stator resistance (ohm)
+LS=0.0012 // Stator inductance (Hr)
+
+MotorFreq=10K // Motor PWM switching frequency, in Hz
+T=1.0/MotorFreq
+SpdFreq=1K // Speed loop frequency
+MinDelta = 0.0000305 // Speed change step
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.Build.CppClean.log" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.Build.CppClean.log
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.Build.CppClean.log"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.Build.CppClean.log
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.dll"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll
diff --git a/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest
new file mode 100644
index 0000000..11bb704
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest.res b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.embed.manifest.res
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diff --git a/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.intermediate.manifest b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.intermediate.manifest
new file mode 100644
index 0000000..ecea6f7
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.dll.intermediate.manifest
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.exp" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.exp
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.exp"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.exp
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.ilk" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.ilk
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.ilk"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.ilk
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.lastbuildstate" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.lastbuildstate
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.lastbuildstate"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.lastbuildstate
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.lib" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.lib
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.lib"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.lib
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.log" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.log
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.log"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.log
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.obj" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.obj
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.obj"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.obj
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.pdb" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.pdb
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.pdb"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.pdb
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.vcxprojResolveAssemblyReference.cache
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.write.1.tlog" b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.write.1.tlog
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rms_dll.write.1.tlog"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll.write.1.tlog
diff --git a/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll_manifest.rc b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll_manifest.rc
new file mode 100644
index 0000000..b399577
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Debug/rms_dll_manifest.rc differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/vc100.idb" b/PSIM_simulation/rms_dll_R150821/code/Debug/vc100.idb
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/vc100.idb"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/vc100.idb
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/vc100.pdb" b/PSIM_simulation/rms_dll_R150821/code/Debug/vc100.pdb
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/vc100.pdb"
rename to PSIM_simulation/rms_dll_R150821/code/Debug/vc100.pdb
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAB b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAB
new file mode 100644
index 0000000..91603d3
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAB differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAD b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAD
new file mode 100644
index 0000000..ce9ed03
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IAD differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMB b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMB
new file mode 100644
index 0000000..4846b4e
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMB differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMD b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMD
new file mode 100644
index 0000000..8563878
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.IMD differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PFI b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PFI
new file mode 100644
index 0000000..593f470
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PFI differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PO b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PO
new file mode 100644
index 0000000..c476933
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PO differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PR b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PR
new file mode 100644
index 0000000..2f0b29b
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PR differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PRI b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PRI
new file mode 100644
index 0000000..3543cac
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PRI differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PS b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PS
new file mode 100644
index 0000000..c2c0286
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.PS differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.SearchResults b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.SearchResults
new file mode 100644
index 0000000..f4b2561
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.SearchResults
@@ -0,0 +1,10 @@
+---- CtrlParm.qVelRef Matches (9 in 1 files) ----
+Rms_dll.cpp: CtrlParm.qVelRef = 0;
+Rms_dll.cpp: if (CtrlParm.qVelRef <= VelReq)
+Rms_dll.cpp: CtrlParm.qVelRef += SPEEDDELAY;
+Rms_dll.cpp: CtrlParm.qVelRef -= SPEEDDELAY;
+Rms_dll.cpp: CtrlParm.qVelRef = OMEGA0;
+Rms_dll.cpp: CtrlParm.qVelRef = OMEGA0;
+Rms_dll.cpp: PIParmW.qInRef = CtrlParm.qVelRef;
+Rms_dll.cpp: CtrlParm.qVqRef = CtrlParm.qVelRef;
+Rms_dll.cpp: CtrlParm.qVdRef = FieldWeakening(fabsf(CtrlParm.qVelRef));
diff --git a/PSIM_simulation/rms_dll_R150821/code/Untitled Project.WK3 b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.WK3
new file mode 100644
index 0000000..fcaf622
Binary files /dev/null and b/PSIM_simulation/rms_dll_R150821/code/Untitled Project.WK3 differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/ipch/rms_dll-7ebee3c2/rms_dll-d33337a3.ipch" b/PSIM_simulation/rms_dll_R150821/code/ipch/rms_dll-7ebee3c2/rms_dll-d33337a3.ipch
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/ipch/rms_dll-7ebee3c2/rms_dll-d33337a3.ipch"
rename to PSIM_simulation/rms_dll_R150821/code/ipch/rms_dll-7ebee3c2/rms_dll-d33337a3.ipch
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.cpp" b/PSIM_simulation/rms_dll_R150821/code/rms_dll.cpp
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.cpp"
rename to PSIM_simulation/rms_dll_R150821/code/rms_dll.cpp
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.def b/PSIM_simulation/rms_dll_R150821/code/rms_dll.def
new file mode 100644
index 0000000..e7c455d
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.def
@@ -0,0 +1,8 @@
+; rms_dll.def : Declares the module parameters for the DLL.
+
+LIBRARY "rms_dll"
+DESCRIPTION 'Test DLL Block For PSIM'
+
+EXPORTS
+ simuser
+
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsp b/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsp
new file mode 100644
index 0000000..61e24c6
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsp
@@ -0,0 +1,115 @@
+# Microsoft Developer Studio Project File - Name="rms_dll" - Package Owner=<4>
+# Microsoft Developer Studio Generated Build File, Format Version 6.00
+# ** DO NOT EDIT **
+
+# TARGTYPE "Win32 (x86) Dynamic-Link Library" 0x0102
+
+CFG=rms_dll - Win32 Debug
+!MESSAGE This is not a valid makefile. To build this project using NMAKE,
+!MESSAGE use the Export Makefile command and run
+!MESSAGE
+!MESSAGE NMAKE /f "rms_dll.mak".
+!MESSAGE
+!MESSAGE You can specify a configuration when running NMAKE
+!MESSAGE by defining the macro CFG on the command line. For example:
+!MESSAGE
+!MESSAGE NMAKE /f "rms_dll.mak" CFG="rms_dll - Win32 Debug"
+!MESSAGE
+!MESSAGE Possible choices for configuration are:
+!MESSAGE
+!MESSAGE "rms_dll - Win32 Release" (based on "Win32 (x86) Dynamic-Link Library")
+!MESSAGE "rms_dll - Win32 Debug" (based on "Win32 (x86) Dynamic-Link Library")
+!MESSAGE
+
+# Begin Project
+# PROP AllowPerConfigDependencies 0
+# PROP Scc_ProjName ""
+# PROP Scc_LocalPath ""
+CPP=cl.exe
+F90=df.exe
+MTL=midl.exe
+RSC=rc.exe
+
+!IF "$(CFG)" == "rms_dll - Win32 Release"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 0
+# PROP BASE Output_Dir "Release"
+# PROP BASE Intermediate_Dir "Release"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 0
+# PROP Output_Dir "Release"
+# PROP Intermediate_Dir "Release"
+# PROP Ignore_Export_Lib 0
+# PROP Target_Dir ""
+# ADD BASE F90 /compile_only /dll /nologo /warn:nofileopt
+# ADD F90 /compile_only /dll /nologo /warn:nofileopt
+# ADD BASE CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "RMS_DLL_EXPORTS" /YX /FD /c
+# ADD CPP /nologo /MT /W3 /GX /O2 /D "WIN32" /D "NDEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "RMS_DLL_EXPORTS" /YX /FD /c
+# ADD BASE MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+# ADD MTL /nologo /D "NDEBUG" /mktyplib203 /win32
+# ADD BASE RSC /l 0x409 /d "NDEBUG"
+# ADD RSC /l 0x409 /d "NDEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LINK32=link.exe
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /machine:I386
+
+!ELSEIF "$(CFG)" == "rms_dll - Win32 Debug"
+
+# PROP BASE Use_MFC 0
+# PROP BASE Use_Debug_Libraries 1
+# PROP BASE Output_Dir "Debug"
+# PROP BASE Intermediate_Dir "Debug"
+# PROP BASE Target_Dir ""
+# PROP Use_MFC 0
+# PROP Use_Debug_Libraries 1
+# PROP Output_Dir "Debug"
+# PROP Intermediate_Dir "Debug"
+# PROP Target_Dir ""
+# ADD BASE F90 /check:bounds /compile_only /dbglibs /debug:full /dll /nologo /traceback /warn:argument_checking /warn:nofileopt
+# ADD F90 /check:bounds /compile_only /dbglibs /debug:full /dll /nologo /traceback /warn:argument_checking /warn:nofileopt
+# ADD BASE CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "RMS_DLL_EXPORTS" /YX /FD /GZ /c
+# ADD CPP /nologo /MTd /W3 /Gm /GX /ZI /Od /D "WIN32" /D "_DEBUG" /D "_WINDOWS" /D "_MBCS" /D "_USRDLL" /D "RMS_DLL_EXPORTS" /YX /FD /GZ /c
+# ADD BASE MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+# ADD MTL /nologo /D "_DEBUG" /mktyplib203 /win32
+# ADD BASE RSC /l 0x409 /d "_DEBUG"
+# ADD RSC /l 0x409 /d "_DEBUG"
+BSC32=bscmake.exe
+# ADD BASE BSC32 /nologo
+# ADD BSC32 /nologo
+LINK32=link.exe
+# ADD BASE LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
+# ADD LINK32 kernel32.lib user32.lib gdi32.lib winspool.lib comdlg32.lib advapi32.lib shell32.lib ole32.lib oleaut32.lib uuid.lib odbc32.lib odbccp32.lib /nologo /dll /debug /machine:I386 /pdbtype:sept
+
+!ENDIF
+
+# Begin Target
+
+# Name "rms_dll - Win32 Release"
+# Name "rms_dll - Win32 Debug"
+# Begin Group "Source Files"
+
+# PROP Default_Filter "cpp;c;cxx;rc;def;r;odl;idl;hpj;bat;f90;for;f;fpp"
+# Begin Source File
+
+SOURCE=.\rms_dll.cpp
+# End Source File
+# Begin Source File
+
+SOURCE=.\rms_dll.def
+# End Source File
+# End Group
+# Begin Group "Header Files"
+
+# PROP Default_Filter "h;hpp;hxx;hm;inl;fi;fd"
+# End Group
+# Begin Group "Resource Files"
+
+# PROP Default_Filter "ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"
+# End Group
+# End Target
+# End Project
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsw b/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsw
new file mode 100644
index 0000000..9548663
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.dsw
@@ -0,0 +1,29 @@
+Microsoft Developer Studio Workspace File, Format Version 6.00
+# WARNING: DO NOT EDIT OR DELETE THIS WORKSPACE FILE!
+
+###############################################################################
+
+Project: "rms_dll"=.\rms_dll.dsp - Package Owner=<4>
+
+Package=<5>
+{{{
+}}}
+
+Package=<4>
+{{{
+}}}
+
+###############################################################################
+
+Global:
+
+Package=<5>
+{{{
+}}}
+
+Package=<3>
+{{{
+}}}
+
+###############################################################################
+
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.sdf" b/PSIM_simulation/rms_dll_R150821/code/rms_dll.sdf
similarity index 97%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.sdf"
rename to PSIM_simulation/rms_dll_R150821/code/rms_dll.sdf
index 79dfca4..b3fd6c0 100644
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.sdf" and b/PSIM_simulation/rms_dll_R150821/code/rms_dll.sdf differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.sln" b/PSIM_simulation/rms_dll_R150821/code/rms_dll.sln
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.sln"
rename to PSIM_simulation/rms_dll_R150821/code/rms_dll.sln
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.suo" b/PSIM_simulation/rms_dll_R150821/code/rms_dll.suo
similarity index 71%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.suo"
rename to PSIM_simulation/rms_dll_R150821/code/rms_dll.suo
index 09a2ddd..f0f10fd 100644
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/rms_dll.suo" and b/PSIM_simulation/rms_dll_R150821/code/rms_dll.suo differ
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj
new file mode 100644
index 0000000..6742eae
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj
@@ -0,0 +1,142 @@
+
+
+
+
+ Debug
+ Win32
+
+
+ Release
+ Win32
+
+
+
+
+
+
+
+
+ DynamicLibrary
+ false
+ MultiByte
+
+
+ DynamicLibrary
+ false
+ MultiByte
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ .\Debug\
+ .\Debug\
+ true
+
+
+ .\Release\
+ .\Release\
+ false
+
+
+
+ MultiThreadedDebug
+ Default
+ false
+ Disabled
+ true
+ Level3
+ true
+ EditAndContinue
+ WIN32;_DEBUG;_WINDOWS;_USRDLL;RMS_DLL_EXPORTS;%(PreprocessorDefinitions)
+ .\Debug\
+ .\Debug\rms_dll.pch
+ .\Debug\
+ .\Debug\
+ EnableFastChecks
+
+
+ true
+ _DEBUG;%(PreprocessorDefinitions)
+ .\Debug\rms_dll.tlb
+ true
+ Win32
+
+
+ 0x0409
+ _DEBUG;%(PreprocessorDefinitions)
+
+
+ true
+ .\Debug\rms_dll.bsc
+
+
+ true
+ true
+ true
+ Console
+ .\Debug\rms_dll.dll
+ .\Debug\rms_dll.lib
+ odbc32.lib;odbccp32.lib;%(AdditionalDependencies)
+ .\rms_dll.def
+
+
+
+
+ MultiThreaded
+ OnlyExplicitInline
+ true
+ true
+ MaxSpeed
+ true
+ Level3
+ WIN32;NDEBUG;_WINDOWS;_USRDLL;RMS_DLL_EXPORTS;%(PreprocessorDefinitions)
+ .\Release\
+ .\Release\rms_dll.pch
+ .\Release\
+ .\Release\
+
+
+ true
+ NDEBUG;%(PreprocessorDefinitions)
+ .\Release\rms_dll.tlb
+ true
+ Win32
+
+
+ 0x0409
+ NDEBUG;%(PreprocessorDefinitions)
+
+
+ true
+ .\Release\rms_dll.bsc
+
+
+ true
+ true
+ Console
+ .\Release\rms_dll.dll
+ .\Release\rms_dll.lib
+ odbc32.lib;odbccp32.lib;%(AdditionalDependencies)
+ .\rms_dll.def
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.filters b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.filters
new file mode 100644
index 0000000..7c89943
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.filters
@@ -0,0 +1,27 @@
+
+
+
+
+ {62382388-8e7d-409b-ac01-1d6fca879d76}
+ cpp;c;cxx;rc;def;r;odl;idl;hpj;bat;f90;for;f;fpp
+
+
+ {aeb23117-56b4-4d4a-a5d7-cbeaed2824b8}
+ h;hpp;hxx;hm;inl;fi;fd
+
+
+ {38bda88c-f52a-4863-9031-416f0e980cbc}
+ ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe
+
+
+
+
+ Source Files
+
+
+
+
+ Source Files
+
+
+
\ No newline at end of file
diff --git a/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.user b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.user
new file mode 100644
index 0000000..ace9a86
--- /dev/null
+++ b/PSIM_simulation/rms_dll_R150821/code/rms_dll.vcxproj.user
@@ -0,0 +1,3 @@
+
+
+
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/rms_dll.dll" b/PSIM_simulation/rms_dll_R150821/rms_dll.dll
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/rms_dll.dll"
rename to PSIM_simulation/rms_dll_R150821/rms_dll.dll
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/rms_dll.sch" b/PSIM_simulation/rms_dll_R150821/rms_dll.sch
similarity index 100%
rename from "PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/rms_dll.sch"
rename to PSIM_simulation/rms_dll_R150821/rms_dll.sch
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.read.1.tlog"
deleted file mode 100644
index 550f129..0000000
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.read.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.write.1.tlog"
deleted file mode 100644
index 24e4bc6..0000000
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/CL.write.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/cl.command.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/cl.command.1.tlog"
deleted file mode 100644
index fdfa9fe..0000000
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/cl.command.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.read.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.read.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.write.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link-cvtres.write.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.read.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.read.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.write.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324-cvtres.write.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.read.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.read.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.write.1.tlog"
deleted file mode 100644
index 46b134b..0000000
--- "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.1324.write.1.tlog"
+++ /dev/null
@@ -1 +0,0 @@
-ÿþ
\ No newline at end of file
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.command.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.command.1.tlog"
deleted file mode 100644
index ea5ae54..0000000
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.command.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/link.read.1.tlog"
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Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.command.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.read.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.read.1.tlog"
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diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.write.1.tlog"
deleted file mode 100644
index 2462f49..0000000
Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/mt.write.1.tlog" and /dev/null differ
diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.command.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.command.1.tlog"
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Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.command.1.tlog" and /dev/null differ
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diff --git "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.write.1.tlog" "b/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.write.1.tlog"
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Binary files "a/PSIM\341\204\211\341\205\265\341\204\206\341\205\262\341\206\257\341\204\205\341\205\246\341\204\213\341\205\265\341\204\211\341\205\247\341\206\253/rms_dll_R150821/code/Debug/rc.write.1.tlog" and /dev/null differ
diff --git a/README.md b/README.md
index 63f6d4c..053db71 100755
--- a/README.md
+++ b/README.md
@@ -1,2 +1,3 @@
# oroca_bldc_dev
BLDC Driver Development Version for OROCA BLDC
+bldc-test
\ No newline at end of file
diff --git a/oroca_bldc_FW/.cproject b/oroca_bldc_FW/.cproject
index 9fea6ce..be9dabb 100755
--- a/oroca_bldc_FW/.cproject
+++ b/oroca_bldc_FW/.cproject
@@ -1,8 +1,8 @@
-
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@@ -14,110 +14,112 @@
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diff --git a/oroca_bldc_FW/.dep/chthreads.o.d b/oroca_bldc_FW/.dep/chthreads.o.d
deleted file mode 100755
index fc17c02..0000000
--- a/oroca_bldc_FW/.dep/chthreads.o.d
+++ /dev/null
@@ -1,132 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/chvt.o.d b/oroca_bldc_FW/.dep/chvt.o.d
deleted file mode 100755
index b2a78c6..0000000
--- a/oroca_bldc_FW/.dep/chvt.o.d
+++ /dev/null
@@ -1,132 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/comm_usb.o.d b/oroca_bldc_FW/.dep/comm_usb.o.d
deleted file mode 100755
index e93aad9..0000000
--- a/oroca_bldc_FW/.dep/comm_usb.o.d
+++ /dev/null
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diff --git a/oroca_bldc_FW/.dep/conf_general.o.d b/oroca_bldc_FW/.dep/conf_general.o.d
deleted file mode 100755
index 7e8c5ca..0000000
--- a/oroca_bldc_FW/.dep/conf_general.o.d
+++ /dev/null
@@ -1,225 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/eeprom.o.d b/oroca_bldc_FW/.dep/eeprom.o.d
deleted file mode 100755
index e9630f4..0000000
--- a/oroca_bldc_FW/.dep/eeprom.o.d
+++ /dev/null
@@ -1,171 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/flash_helper.o.d b/oroca_bldc_FW/.dep/flash_helper.o.d
deleted file mode 100755
index 8569dde..0000000
--- a/oroca_bldc_FW/.dep/flash_helper.o.d
+++ /dev/null
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diff --git a/oroca_bldc_FW/.dep/hal.o.d b/oroca_bldc_FW/.dep/hal.o.d
deleted file mode 100755
index ddc3f77..0000000
--- a/oroca_bldc_FW/.dep/hal.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/hal_lld.o.d b/oroca_bldc_FW/.dep/hal_lld.o.d
deleted file mode 100755
index a2cea84..0000000
--- a/oroca_bldc_FW/.dep/hal_lld.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
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- lib/ChibiOS_3.0.2/os/hal/include/adc.h \
- lib/ChibiOS_3.0.2/os/hal/include/can.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/can_lld.h \
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- lib/ChibiOS_3.0.2/os/hal/include/mmc_spi.h \
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-lib/ChibiOS_3.0.2/os/hal/include/hal.h:
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diff --git a/oroca_bldc_FW/.dep/i2c.o.d b/oroca_bldc_FW/.dep/i2c.o.d
deleted file mode 100755
index bd79842..0000000
--- a/oroca_bldc_FW/.dep/i2c.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
-build/obj/i2c.o: lib/ChibiOS_3.0.2/os/hal/src/i2c.c \
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diff --git a/oroca_bldc_FW/.dep/i2c_lld.o.d b/oroca_bldc_FW/.dep/i2c_lld.o.d
deleted file mode 100755
index b9d8d01..0000000
--- a/oroca_bldc_FW/.dep/i2c_lld.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/icu.o.d b/oroca_bldc_FW/.dep/icu.o.d
deleted file mode 100755
index b173d00..0000000
--- a/oroca_bldc_FW/.dep/icu.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/usb_lld.h:
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-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h:
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-lib/ChibiOS_3.0.2/os/hal/include/st.h:
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-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/st_lld.h:
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diff --git a/oroca_bldc_FW/.dep/icu_lld.o.d b/oroca_bldc_FW/.dep/icu_lld.o.d
deleted file mode 100755
index e114d97..0000000
--- a/oroca_bldc_FW/.dep/icu_lld.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
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-lib/ChibiOS_3.0.2/os/hal/include/hal.h:
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-lib/ChibiOS_3.0.2/os/hal/osal/rt/osal.h:
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-lib/ChibiOS_3.0.2/os/rt/ports/ARMCMx/compilers/GCC/chtypes.h:
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diff --git a/oroca_bldc_FW/.dep/misc.o.d b/oroca_bldc_FW/.dep/misc.o.d
deleted file mode 100755
index 6ffa6c3..0000000
--- a/oroca_bldc_FW/.dep/misc.o.d
+++ /dev/null
@@ -1,40 +0,0 @@
-build/obj/misc.o: lib/ChibiOS_3.0.2/ext/stdperiph_stm32f4/src/misc.c \
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diff --git a/oroca_bldc_FW/.dep/nvic.o.d b/oroca_bldc_FW/.dep/nvic.o.d
deleted file mode 100755
index 93249b8..0000000
--- a/oroca_bldc_FW/.dep/nvic.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/pal.o.d b/oroca_bldc_FW/.dep/pal.o.d
deleted file mode 100755
index 462c543..0000000
--- a/oroca_bldc_FW/.dep/pal.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/pal_lld.o.d b/oroca_bldc_FW/.dep/pal_lld.o.d
deleted file mode 100755
index 14a40a1..0000000
--- a/oroca_bldc_FW/.dep/pal_lld.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/serial_usb.o.d b/oroca_bldc_FW/.dep/serial_usb.o.d
deleted file mode 100755
index 4250a7a..0000000
--- a/oroca_bldc_FW/.dep/serial_usb.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/servo_dec.o.d b/oroca_bldc_FW/.dep/servo_dec.o.d
deleted file mode 100755
index c7bbcc8..0000000
--- a/oroca_bldc_FW/.dep/servo_dec.o.d
+++ /dev/null
@@ -1,319 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/stm32_dma.o.d b/oroca_bldc_FW/.dep/stm32_dma.o.d
deleted file mode 100755
index f7d1793..0000000
--- a/oroca_bldc_FW/.dep/stm32_dma.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
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deleted file mode 100755
index 1ab96df..0000000
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deleted file mode 100755
index 3efbf28..0000000
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deleted file mode 100755
index 96353b4..0000000
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deleted file mode 100755
index 72223af..0000000
--- a/oroca_bldc_FW/.dep/stm32f4xx_flash.o.d
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deleted file mode 100755
index c523379..0000000
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deleted file mode 100755
index ec48fc3..0000000
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deleted file mode 100755
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deleted file mode 100755
index 56920f3..0000000
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deleted file mode 100755
index f24b7ef..0000000
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diff --git a/oroca_bldc_FW/.dep/uart.o.d b/oroca_bldc_FW/.dep/uart.o.d
deleted file mode 100755
index 20267de..0000000
--- a/oroca_bldc_FW/.dep/uart.o.d
+++ /dev/null
@@ -1,273 +0,0 @@
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- lib/ChibiOS_3.0.2/os/hal/include/mmc_spi.h \
- lib/ChibiOS_3.0.2/os/hal/include/serial_usb.h
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diff --git a/oroca_bldc_FW/.dep/uart_lld.o.d b/oroca_bldc_FW/.dep/uart_lld.o.d
deleted file mode 100755
index 2747683..0000000
--- a/oroca_bldc_FW/.dep/uart_lld.o.d
+++ /dev/null
@@ -1,274 +0,0 @@
-build/obj/uart_lld.o: \
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diff --git a/oroca_bldc_FW/.dep/usb.o.d b/oroca_bldc_FW/.dep/usb.o.d
deleted file mode 100755
index a447575..0000000
--- a/oroca_bldc_FW/.dep/usb.o.d
+++ /dev/null
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-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/USARTv1/uart_lld.h:
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-lib/ChibiOS_3.0.2/os/hal/include/usb.h:
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-lib/ChibiOS_3.0.2/os/hal/include/st.h:
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-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/st_lld.h:
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-mcuconf.h:
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-lib/ChibiOS_3.0.2/os/hal/include/serial_usb.h:
diff --git a/oroca_bldc_FW/.dep/usb_lld.o.d b/oroca_bldc_FW/.dep/usb_lld.o.d
deleted file mode 100755
index 445396f..0000000
--- a/oroca_bldc_FW/.dep/usb_lld.o.d
+++ /dev/null
@@ -1,310 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/usb_uart.o.d b/oroca_bldc_FW/.dep/usb_uart.o.d
deleted file mode 100755
index b74b6ab..0000000
--- a/oroca_bldc_FW/.dep/usb_uart.o.d
+++ /dev/null
@@ -1,327 +0,0 @@
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diff --git a/oroca_bldc_FW/.dep/utils.o.d b/oroca_bldc_FW/.dep/utils.o.d
deleted file mode 100755
index bef4d42..0000000
--- a/oroca_bldc_FW/.dep/utils.o.d
+++ /dev/null
@@ -1,305 +0,0 @@
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- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmInstr.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmFunc.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4_simd.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/system_stm32f4xx.h \
- lib/ChibiOS_3.0.2/os/rt/ports/ARMCMx/chcore_v7m.h \
- lib/ChibiOS_3.0.2/os/rt/include/chdebug.h \
- lib/ChibiOS_3.0.2/os/rt/include/chtm.h \
- lib/ChibiOS_3.0.2/os/rt/include/chstats.h \
- lib/ChibiOS_3.0.2/os/rt/include/chschd.h \
- lib/ChibiOS_3.0.2/os/rt/include/chsys.h \
- lib/ChibiOS_3.0.2/os/rt/include/chvt.h \
- lib/ChibiOS_3.0.2/os/rt/include/chthreads.h \
- lib/ChibiOS_3.0.2/os/rt/include/chregistry.h \
- lib/ChibiOS_3.0.2/os/rt/include/chsem.h \
- lib/ChibiOS_3.0.2/os/rt/include/chbsem.h \
- lib/ChibiOS_3.0.2/os/rt/include/chmtx.h \
- lib/ChibiOS_3.0.2/os/rt/include/chcond.h \
- lib/ChibiOS_3.0.2/os/rt/include/chevents.h \
- lib/ChibiOS_3.0.2/os/rt/include/chmsg.h \
- lib/ChibiOS_3.0.2/os/rt/include/chmboxes.h \
- lib/ChibiOS_3.0.2/os/rt/include/chmemcore.h \
- lib/ChibiOS_3.0.2/os/rt/include/chheap.h \
- lib/ChibiOS_3.0.2/os/rt/include/chmempools.h \
- lib/ChibiOS_3.0.2/os/rt/include/chdynamic.h \
- lib/ChibiOS_3.0.2/os/rt/include/chqueues.h \
- lib/ChibiOS_3.0.2/os/rt/include/chstreams.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal.h \
- lib/ChibiOS_3.0.2/os/hal/osal/rt/osal.h halconf.h mcuconf.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/hal_lld.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_registry.h \
- lib/ChibiOS_3.0.2/os/hal/ports/common/ARMCMx/nvic.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_isr.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_dma.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_rcc.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_streams.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_channels.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_files.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_ioblock.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_mmcsd.h \
- lib/ChibiOS_3.0.2/os/hal/include/hal_queues.h \
- lib/ChibiOS_3.0.2/os/hal/include/pal.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/GPIOv2/pal_lld.h \
- lib/ChibiOS_3.0.2/os/hal/include/adc.h \
- lib/ChibiOS_3.0.2/os/hal/include/can.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/can_lld.h \
- lib/ChibiOS_3.0.2/os/hal/include/dac.h \
- lib/ChibiOS_3.0.2/os/hal/include/ext.h \
- lib/ChibiOS_3.0.2/os/hal/include/gpt.h \
- lib/ChibiOS_3.0.2/os/hal/include/i2c.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/I2Cv1/i2c_lld.h \
- lib/ChibiOS_3.0.2/os/hal/include/i2s.h \
- lib/ChibiOS_3.0.2/os/hal/include/icu.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/icu_lld.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h \
- lib/ChibiOS_3.0.2/os/hal/include/mac.h \
- lib/ChibiOS_3.0.2/os/hal/include/mii.h \
- lib/ChibiOS_3.0.2/os/hal/include/pwm.h \
- lib/ChibiOS_3.0.2/os/hal/include/rtc.h \
- lib/ChibiOS_3.0.2/os/hal/include/serial.h \
- lib/ChibiOS_3.0.2/os/hal/include/sdc.h \
- lib/ChibiOS_3.0.2/os/hal/include/spi.h \
- lib/ChibiOS_3.0.2/os/hal/include/uart.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/USARTv1/uart_lld.h \
- lib/ChibiOS_3.0.2/os/hal/include/usb.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/usb_lld.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h \
- lib/ChibiOS_3.0.2/os/hal/include/st.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/st_lld.h mcuconf.h \
- lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_registry.h \
- lib/ChibiOS_3.0.2/os/hal/include/mmc_spi.h \
- lib/ChibiOS_3.0.2/os/hal/include/serial_usb.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/math.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/reent.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/_ansi.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/newlib.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/config.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/ieeefp.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/_types.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/_types.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/lock.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/_ansi.h
-
-src/core/utils.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/ch.h:
-
-lib/ChibiOS_3.0.2/os/rt/ports/ARMCMx/compilers/GCC/chtypes.h:
-
-/Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stddef.h:
-
-/Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdint.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/stdint.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/_default_types.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/features.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/_intsup.h:
-
-/Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdbool.h:
-
-chconf.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chlicense.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chsystypes.h:
-
-lib/ChibiOS_3.0.2/os/rt/ports/ARMCMx/chcore.h:
-
-lib/ChibiOS_3.0.2/os/common/ports/ARMCMx/devices/STM32F4xx/cmparams.h:
-
-lib/ChibiOS_3.0.2/os/hal/boards/ST_STM32F4_DISCOVERY/board.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f4xx.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f407xx.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmInstr.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmFunc.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4_simd.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/system_stm32f4xx.h:
-
-lib/ChibiOS_3.0.2/os/rt/ports/ARMCMx/chcore_v7m.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chdebug.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chtm.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chstats.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chschd.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chsys.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chvt.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chthreads.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chregistry.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chsem.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chbsem.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chmtx.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chcond.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chevents.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chmsg.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chmboxes.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chmemcore.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chheap.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chmempools.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chdynamic.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chqueues.h:
-
-lib/ChibiOS_3.0.2/os/rt/include/chstreams.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal.h:
-
-lib/ChibiOS_3.0.2/os/hal/osal/rt/osal.h:
-
-halconf.h:
-
-mcuconf.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/hal_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_registry.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/common/ARMCMx/nvic.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_isr.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_dma.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_rcc.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_streams.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_channels.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_files.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_ioblock.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_mmcsd.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/hal_queues.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/pal.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/GPIOv2/pal_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/adc.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/can.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/can_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/dac.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/ext.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/gpt.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/i2c.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/I2Cv1/i2c_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/i2s.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/icu.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/icu_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/stm32_tim.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/mac.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/mii.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/pwm.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/rtc.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/serial.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/sdc.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/spi.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/uart.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/USARTv1/uart_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/usb.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/usb_lld.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/OTGv1/stm32_otg.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/st.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/LLD/TIMv1/st_lld.h:
-
-mcuconf.h:
-
-lib/ChibiOS_3.0.2/os/hal/ports/STM32/STM32F4xx/stm32_registry.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/mmc_spi.h:
-
-lib/ChibiOS_3.0.2/os/hal/include/serial_usb.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/math.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/reent.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/_ansi.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/newlib.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/config.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/ieeefp.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/_types.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/_types.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/lock.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/_ansi.h:
diff --git a/oroca_bldc_FW/.dep/vectors.o.d b/oroca_bldc_FW/.dep/vectors.o.d
deleted file mode 100755
index 91cc902..0000000
--- a/oroca_bldc_FW/.dep/vectors.o.d
+++ /dev/null
@@ -1,47 +0,0 @@
-build/obj/vectors.o: \
- lib/ChibiOS_3.0.2/os/common/ports/ARMCMx/compilers/GCC/vectors.c \
- /Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdbool.h \
- /Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdint.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/stdint.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/_default_types.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/features.h \
- /Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/_intsup.h \
- lib/ChibiOS_3.0.2/os/common/ports/ARMCMx/devices/STM32F4xx/cmparams.h \
- lib/ChibiOS_3.0.2/os/hal/boards/ST_STM32F4_DISCOVERY/board.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f4xx.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f407xx.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmInstr.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmFunc.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4_simd.h \
- lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/system_stm32f4xx.h
-
-/Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdbool.h:
-
-/Users/Baram/gcc-arm-none-eabi/lib/gcc/arm-none-eabi/4.9.3/include/stdint.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/stdint.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/machine/_default_types.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/features.h:
-
-/Users/Baram/gcc-arm-none-eabi/arm-none-eabi/include/sys/_intsup.h:
-
-lib/ChibiOS_3.0.2/os/common/ports/ARMCMx/devices/STM32F4xx/cmparams.h:
-
-lib/ChibiOS_3.0.2/os/hal/boards/ST_STM32F4_DISCOVERY/board.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f4xx.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/stm32f407xx.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmInstr.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cmFunc.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/include/core_cm4_simd.h:
-
-lib/ChibiOS_3.0.2/os/ext/CMSIS/ST/system_stm32f4xx.h:
diff --git a/oroca_bldc_FW/.settings/language.settings.xml b/oroca_bldc_FW/.settings/language.settings.xml
index 7a42a07..2094b56 100755
--- a/oroca_bldc_FW/.settings/language.settings.xml
+++ b/oroca_bldc_FW/.settings/language.settings.xml
@@ -1,11 +1,11 @@
-
+
-
+
diff --git a/oroca_bldc_FW/Makefile b/oroca_bldc_FW/Makefile
index 17c4d46..20721f9 100755
--- a/oroca_bldc_FW/Makefile
+++ b/oroca_bldc_FW/Makefile
@@ -95,7 +95,8 @@ CORESRC = src/core
COREINC = src/core
BLDCSRC = src/bldc
BLDCINC = src/bldc
-
+APPSRC = src/app
+APPINC = src/app
MAVINC = lib/mavlink
MAVINC += lib/mavlink/common
@@ -119,8 +120,6 @@ include $(CHIBIOS)/os/hal/osal/rt/osal.mk
# RTOS files (optional).
include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/rt/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
-include lib/hwconf/hwconf.mk
-
# Define linker script file here
LDSCRIPT= ld_eeprom_emu.ld
@@ -136,21 +135,26 @@ CSRC = $(STARTUPSRC) \
$(HALSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
- $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
$(CHIBIOS)/os/various/syscalls.c \
+ $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
+ $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+ $(LIBSRC)/hwconf/hw_oroca.c\
$(BLDCSRC)/bldc.c \
$(BLDCSRC)/mcpwm.c \
- $(CORESRC)/usb_uart.c \
- $(CORESRC)/irq_handlers.c \
- $(CORESRC)/comm_usb.c \
+ $(BLDCSRC)/spi_dac.c \
$(CORESRC)/servo_dec.c \
- $(CORESRC)/utils.c \
- $(CORESRC)/conf_general.c \
- $(CORESRC)/eeprom.c \
- $(CORESRC)/flash_helper.c \
- $(HWSRC)
+ $(CORESRC)/uart3.c\
+ $(CORESRC)/irq_handlers.c \
+ $(CORESRC)/utils.c \
+ $(CORESRC)/timeout.c \
+ $(CORESRC)/buffer.c \
+ $(APPSRC)/mavlink_can_proc.c \
+ $(APPSRC)/mavlink_uart_proc.c \
+ $(APPSRC)/local_ppm_proc.c \
+ $(APPSRC)/user_interface_app.c
+
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
# setting.
CPPSRC = main.cpp
@@ -182,16 +186,16 @@ ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) \
$(CHIBIOS)/os/various \
+ $(CHIBIOS)/os/hal/lib/ports/STM32/LLD/TIMv1 \
$(CHIBIOS)/os/hal/lib/streams \
- $(LIBDIR)/mcconf \
+ $(LIBDIR)/hwconf \
$(HWINC) \
- $(APPINC) \
$(NRFINC) \
$(COREINC) \
$(BLDCINC) \
+ $(APPINC) \
$(MAVINC)
-
-#
+ #$(LIBDIR)/mcconf \
# Project, sources and paths
##############################################################################
@@ -291,14 +295,15 @@ endif
+build/$(PROJECT).bin: build/$(PROJECT).elf show_size
+ $(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
+
# Print size
show_size:
$(SIZE) build/$(PROJECT).elf
-build/$(PROJECT).bin: build/$(PROJECT).elf show_size
- $(BIN) build/$(PROJECT).elf build/$(PROJECT).bin
-
+
# Program
upload: build/$(PROJECT).bin
#qstlink2 --cli --erase --write build/$(PROJECT).bin
diff --git a/oroca_bldc_FW/build/obj/bldc.o b/oroca_bldc_FW/build/obj/bldc.o
deleted file mode 100755
index 06ae4d7..0000000
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diff --git a/oroca_bldc_FW/build/obj/can.o b/oroca_bldc_FW/build/obj/can.o
deleted file mode 100755
index 3375a95..0000000
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deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/chsys.o b/oroca_bldc_FW/build/obj/chsys.o
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diff --git a/oroca_bldc_FW/build/obj/chthreads.o b/oroca_bldc_FW/build/obj/chthreads.o
deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/comm_usb.o b/oroca_bldc_FW/build/obj/comm_usb.o
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deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/hal_lld.o b/oroca_bldc_FW/build/obj/hal_lld.o
deleted file mode 100755
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deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/i2c.o b/oroca_bldc_FW/build/obj/i2c.o
deleted file mode 100755
index b43e0c6..0000000
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diff --git a/oroca_bldc_FW/build/obj/i2c_lld.o b/oroca_bldc_FW/build/obj/i2c_lld.o
deleted file mode 100755
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deleted file mode 100755
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deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/irq_handlers.o b/oroca_bldc_FW/build/obj/irq_handlers.o
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deleted file mode 100755
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deleted file mode 100755
index 7f8be97..0000000
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diff --git a/oroca_bldc_FW/build/obj/misc.o b/oroca_bldc_FW/build/obj/misc.o
deleted file mode 100755
index 240cb75..0000000
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deleted file mode 100755
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diff --git a/oroca_bldc_FW/build/obj/pal.o b/oroca_bldc_FW/build/obj/pal.o
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index 38fa4e5..0000000
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diff --git a/oroca_bldc_FW/build/obj/servo_dec.o b/oroca_bldc_FW/build/obj/servo_dec.o
deleted file mode 100755
index 81d3905..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32_dma.o b/oroca_bldc_FW/build/obj/stm32_dma.o
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_adc.o b/oroca_bldc_FW/build/obj/stm32f4xx_adc.o
deleted file mode 100755
index 3abc4da..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_dma.o b/oroca_bldc_FW/build/obj/stm32f4xx_dma.o
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_exti.o b/oroca_bldc_FW/build/obj/stm32f4xx_exti.o
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index 044dec6..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_flash.o b/oroca_bldc_FW/build/obj/stm32f4xx_flash.o
deleted file mode 100755
index 50ab45a..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_rcc.o b/oroca_bldc_FW/build/obj/stm32f4xx_rcc.o
deleted file mode 100755
index d37c917..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_syscfg.o b/oroca_bldc_FW/build/obj/stm32f4xx_syscfg.o
deleted file mode 100755
index fb30015..0000000
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_tim.o b/oroca_bldc_FW/build/obj/stm32f4xx_tim.o
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diff --git a/oroca_bldc_FW/build/obj/stm32f4xx_wwdg.o b/oroca_bldc_FW/build/obj/stm32f4xx_wwdg.o
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index 7a292ee..0000000
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diff --git a/oroca_bldc_FW/build/obj/syscalls.o b/oroca_bldc_FW/build/obj/syscalls.o
deleted file mode 100755
index ca3d507..0000000
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diff --git a/oroca_bldc_FW/build/obj/uart.o b/oroca_bldc_FW/build/obj/uart.o
deleted file mode 100755
index b6758d5..0000000
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diff --git a/oroca_bldc_FW/build/obj/uart_lld.o b/oroca_bldc_FW/build/obj/uart_lld.o
deleted file mode 100755
index 9151e4d..0000000
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diff --git a/oroca_bldc_FW/build/obj/usb.o b/oroca_bldc_FW/build/obj/usb.o
deleted file mode 100755
index 45305a6..0000000
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diff --git a/oroca_bldc_FW/build/obj/usb_lld.o b/oroca_bldc_FW/build/obj/usb_lld.o
deleted file mode 100755
index 060ce8f..0000000
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diff --git a/oroca_bldc_FW/build/obj/usb_uart.o b/oroca_bldc_FW/build/obj/usb_uart.o
deleted file mode 100755
index f962414..0000000
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diff --git a/oroca_bldc_FW/build/obj/utils.o b/oroca_bldc_FW/build/obj/utils.o
deleted file mode 100755
index 06a98dd..0000000
Binary files a/oroca_bldc_FW/build/obj/utils.o and /dev/null differ
diff --git a/oroca_bldc_FW/build/obj/vectors.o b/oroca_bldc_FW/build/obj/vectors.o
deleted file mode 100755
index 285860a..0000000
Binary files a/oroca_bldc_FW/build/obj/vectors.o and /dev/null differ
diff --git a/oroca_bldc_FW/build/oroca_bldc.bin b/oroca_bldc_FW/build/oroca_bldc.bin
deleted file mode 100755
index 41c4b47..0000000
Binary files a/oroca_bldc_FW/build/oroca_bldc.bin and /dev/null differ
diff --git a/oroca_bldc_FW/build/oroca_bldc.dmp b/oroca_bldc_FW/build/oroca_bldc.dmp
deleted file mode 100755
index a368dcc..0000000
--- a/oroca_bldc_FW/build/oroca_bldc.dmp
+++ /dev/null
@@ -1,712 +0,0 @@
-
-build/oroca_bldc.elf: file format elf32-littlearm
-build/oroca_bldc.elf
-architecture: arm, flags 0x00000112:
-EXEC_P, HAS_SYMS, D_PAGED
-start address 0x0800c001
-
-Program Header:
- LOAD off 0x00008000 vaddr 0x08000000 paddr 0x08000000 align 2**15
- filesz 0x000001c0 memsz 0x000001c0 flags rw-
- LOAD off 0x0000c000 vaddr 0x0800c000 paddr 0x0800c000 align 2**15
- filesz 0x00007b44 memsz 0x00007b48 flags rwx
- LOAD off 0x00018800 vaddr 0x20000800 paddr 0x08013b48 align 2**15
- filesz 0x0000043c memsz 0x0000043c flags rw-
- LOAD off 0x00018c40 vaddr 0x20000c40 paddr 0x08013f84 align 2**15
- filesz 0x00000000 memsz 0x000021e8 flags rw-
- LOAD off 0x00020000 vaddr 0x20000000 paddr 0x20000000 align 2**15
- filesz 0x00000000 memsz 0x00000800 flags rw-
-private flags = 5000402: [Version5 EABI] [hard-float ABI] [has entry point]
-
-Sections:
-Idx Name Size VMA LMA File off Algn
- 0 startup 000001c0 08000000 08000000 00008000 2**4
- CONTENTS, ALLOC, LOAD, DATA
- 1 .text 00007b44 0800c000 0800c000 0000c000 2**4
- CONTENTS, ALLOC, LOAD, READONLY, CODE
- 2 .textalign 00000004 08013b44 08013b44 00013b44 2**0
- ALLOC
- 3 .mstack 00000400 20000000 20000000 00020000 2**0
- ALLOC
- 4 .pstack 00000400 20000400 20000400 00020000 2**0
- ALLOC
- 5 .data 0000043c 20000800 08013b48 00018800 2**3
- CONTENTS, ALLOC, LOAD, DATA
- 6 .bss 000021e8 20000c40 08013f84 00018c40 2**3
- ALLOC
- 7 .ram0 00000000 20002e28 20002e28 00018c3c 2**2
- CONTENTS
- 8 .ram1 00000000 20000000 20000000 00018c3c 2**2
- CONTENTS
- 9 .ram2 00000000 2001c000 2001c000 00018c3c 2**2
- CONTENTS
- 10 .ram3 00000000 00000000 00000000 00018c3c 2**2
- CONTENTS
- 11 .ram4 00000000 10000000 10000000 00018c3c 2**2
- CONTENTS
- 12 .ram5 00000000 40024000 40024000 00018c3c 2**2
- CONTENTS
- 13 .ram6 00000000 00000000 00000000 00018c3c 2**2
- CONTENTS
- 14 .ram7 00000000 00000000 00000000 00018c3c 2**2
- CONTENTS
- 15 .ARM.attributes 00000035 00000000 00000000 00018c3c 2**0
- CONTENTS, READONLY
- 16 .comment 00000070 00000000 00000000 00018c71 2**0
- CONTENTS, READONLY
- 17 .debug_info 0003a757 00000000 00000000 00018ce1 2**0
- CONTENTS, READONLY, DEBUGGING
- 18 .debug_abbrev 000094f6 00000000 00000000 00053438 2**0
- CONTENTS, READONLY, DEBUGGING
- 19 .debug_aranges 000017b8 00000000 00000000 0005c92e 2**0
- CONTENTS, READONLY, DEBUGGING
- 20 .debug_ranges 00002950 00000000 00000000 0005e0e6 2**0
- CONTENTS, READONLY, DEBUGGING
- 21 .debug_line 0000e328 00000000 00000000 00060a36 2**0
- CONTENTS, READONLY, DEBUGGING
- 22 .debug_str 000083e7 00000000 00000000 0006ed5e 2**0
- CONTENTS, READONLY, DEBUGGING
- 23 .debug_frame 00004428 00000000 00000000 00077148 2**2
- CONTENTS, READONLY, DEBUGGING
- 24 .debug_loc 0000e02b 00000000 00000000 0007b570 2**0
- CONTENTS, READONLY, DEBUGGING
-SYMBOL TABLE:
-08000000 l d startup 00000000 startup
-0800c000 l d .text 00000000 .text
-08013b44 l d .textalign 00000000 .textalign
-20000000 l d .mstack 00000000 .mstack
-20000400 l d .pstack 00000000 .pstack
-20000800 l d .data 00000000 .data
-20000c40 l d .bss 00000000 .bss
-20002e28 l d .ram0 00000000 .ram0
-20000000 l d .ram1 00000000 .ram1
-2001c000 l d .ram2 00000000 .ram2
-00000000 l d .ram3 00000000 .ram3
-10000000 l d .ram4 00000000 .ram4
-40024000 l d .ram5 00000000 .ram5
-00000000 l d .ram6 00000000 .ram6
-00000000 l d .ram7 00000000 .ram7
-00000000 l d .ARM.attributes 00000000 .ARM.attributes
-00000000 l d .comment 00000000 .comment
-00000000 l d .debug_info 00000000 .debug_info
-00000000 l d .debug_abbrev 00000000 .debug_abbrev
-00000000 l d .debug_aranges 00000000 .debug_aranges
-00000000 l d .debug_ranges 00000000 .debug_ranges
-00000000 l d .debug_line 00000000 .debug_line
-00000000 l d .debug_str 00000000 .debug_str
-00000000 l d .debug_frame 00000000 .debug_frame
-00000000 l d .debug_loc 00000000 .debug_loc
-00000000 l df *ABS* 00000000 vectors.c
-00000000 l df *ABS* 00000000 build/obj/crt0_v7m.o
-0800c066 l .text 00000000 msloop
-0800c074 l .text 00000000 psloop
-0800c084 l .text 00000000 dloop
-0800c098 l .text 00000000 bloop
-0800c0aa l .text 00000000 initloop
-0800c0b6 l .text 00000000 endinitloop
-0800c0be l .text 00000000 finiloop
-0800c0ca l .text 00000000 endfiniloop
-00000000 l df *ABS* 00000000 build/obj/chcoreasm_v7m.o
-0000000c l *ABS* 00000000 CONTEXT_OFFSET
-e000ed04 l *ABS* 00000000 SCB_ICSR
-10000000 l *ABS* 00000000 ICSR_PENDSVSET
-00000000 l df *ABS* 00000000 _arm_addsubdf3.o
-00000000 l df *ABS* 00000000 _arm_muldivdf3.o
-00000000 l df *ABS* 00000000 _arm_truncdfsf2.o
-00000000 l df *ABS* 00000000 lib_a-memcpy.o
-00000000 l df *ABS* 00000000 crt1.c
-00000000 l df *ABS* 00000000 chsys.c
-0800cb00 l F .text 00000002 _idle_thread
-00000000 l df *ABS* 00000000 chvt.c
-00000000 l df *ABS* 00000000 chschd.c
-0800ccd0 l F .text 00000070 wakeup
-00000000 l df *ABS* 00000000 chthreads.c
-00000000 l df *ABS* 00000000 chtm.c
-00000000 l df *ABS* 00000000 chmtx.c
-00000000 l df *ABS* 00000000 chevents.c
-00000000 l df *ABS* 00000000 chqueues.c
-00000000 l df *ABS* 00000000 chmemcore.c
-20000e98 l O .bss 00000004 endmem
-20000e9c l O .bss 00000004 nextmem
-00000000 l df *ABS* 00000000 chheap.c
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diff --git a/oroca_bldc_FW/build/oroca_bldc.elf b/oroca_bldc_FW/build/oroca_bldc.elf
deleted file mode 100755
index 0f5f535..0000000
Binary files a/oroca_bldc_FW/build/oroca_bldc.elf and /dev/null differ
diff --git a/oroca_bldc_FW/build/oroca_bldc.hex b/oroca_bldc_FW/build/oroca_bldc.hex
deleted file mode 100755
index 3a5b3d8..0000000
--- a/oroca_bldc_FW/build/oroca_bldc.hex
+++ /dev/null
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diff --git a/oroca_bldc_FW/build/oroca_bldc.list b/oroca_bldc_FW/build/oroca_bldc.list
deleted file mode 100755
index e386dfb..0000000
--- a/oroca_bldc_FW/build/oroca_bldc.list
+++ /dev/null
@@ -1,27117 +0,0 @@
-
-build/oroca_bldc.elf: file format elf32-littlearm
-
-
-Disassembly of section .text:
-
-0800c000 :
- 800c000: b672 cpsid i
- 800c002: 4833 ldr r0, [pc, #204] ; (800c0d0 )
- 800c004: f380 8809 msr PSP, r0
- 800c008: f240 0000 movw r0, #0
- 800c00c: f2cc 0000 movt r0, #49152 ; 0xc000
- 800c010: f64e 7134 movw r1, #61236 ; 0xef34
- 800c014: f2ce 0100 movt r1, #57344 ; 0xe000
- 800c018: 6008 str r0, [r1, #0]
- 800c01a: f3bf 8f4f dsb sy
- 800c01e: f3bf 8f6f isb sy
- 800c022: f240 0000 movw r0, #0
- 800c026: f2c0 00f0 movt r0, #240 ; 0xf0
- 800c02a: f64e 5188 movw r1, #60808 ; 0xed88
- 800c02e: f2ce 0100 movt r1, #57344 ; 0xe000
- 800c032: 6008 str r0, [r1, #0]
- 800c034: f3bf 8f4f dsb sy
- 800c038: f3bf 8f6f isb sy
- 800c03c: f04f 0000 mov.w r0, #0
- 800c040: eee1 0a10 vmsr fpscr, r0
- 800c044: f64e 713c movw r1, #61244 ; 0xef3c
- 800c048: f2ce 0100 movt r1, #57344 ; 0xe000
- 800c04c: 6008 str r0, [r1, #0]
- 800c04e: 2006 movs r0, #6
- 800c050: f380 8814 msr CONTROL, r0
- 800c054: f3bf 8f6f isb sy
- 800c058: f000 fd32 bl 800cac0 <__core_init>
- 800c05c: f003 fd60 bl 800fb20 <__early_init>
- 800c060: 481c ldr r0, [pc, #112] ; (800c0d4 )
- 800c062: 491d ldr r1, [pc, #116] ; (800c0d8 )
- 800c064: 4a1d ldr r2, [pc, #116] ; (800c0dc )
-
-0800c066 :
- 800c066: 4291 cmp r1, r2
- 800c068: bf3c itt cc
- 800c06a: f841 0b04 strcc.w r0, [r1], #4
- 800c06e: e7fa bcc.n 800c066
- 800c070: 491b ldr r1, [pc, #108] ; (800c0e0 )
- 800c072: 4a17 ldr r2, [pc, #92] ; (800c0d0 )
-
-0800c074 :
- 800c074: 4291 cmp r1, r2
- 800c076: bf3c itt cc
- 800c078: f841 0b04 strcc.w r0, [r1], #4
- 800c07c: e7fa bcc.n 800c074
- 800c07e: 4919 ldr r1, [pc, #100] ; (800c0e4 )
- 800c080: 4a19 ldr r2, [pc, #100] ; (800c0e8 )
- 800c082: 4b1a ldr r3, [pc, #104] ; (800c0ec )
-
-0800c084 :
- 800c084: 429a cmp r2, r3
- 800c086: bf3e ittt cc
- 800c088: f851 0b04 ldrcc.w r0, [r1], #4
- 800c08c: f842 0b04 strcc.w r0, [r2], #4
- 800c090: e7f8 bcc.n 800c084
- 800c092: 2000 movs r0, #0
- 800c094: 4916 ldr r1, [pc, #88] ; (800c0f0 )
- 800c096: 4a17 ldr r2, [pc, #92] ; (800c0f4 )
-
-0800c098 :
- 800c098: 4291 cmp r1, r2
- 800c09a: bf3c itt cc
- 800c09c: f841 0b04 strcc.w r0, [r1], #4
- 800c0a0: e7fa bcc.n 800c098
- 800c0a2: f000 fd15 bl 800cad0 <__late_init>
- 800c0a6: 4c14 ldr r4, [pc, #80] ; (800c0f8 )
- 800c0a8: 4d14 ldr r5, [pc, #80] ; (800c0fc )
-
-0800c0aa :
- 800c0aa: 42ac cmp r4, r5
- 800c0ac: da03 bge.n 800c0b6
- 800c0ae: f854 1b04 ldr.w r1, [r4], #4
- 800c0b2: 4788 blx r1
- 800c0b4: e7f9 b.n 800c0aa
-
-0800c0b6 :
- 800c0b6: f006 f8cb bl 8012250
- 800c0ba: 4c11 ldr r4, [pc, #68] ; (800c100 )
- 800c0bc: 4d11 ldr r5, [pc, #68] ; (800c104 )
-
-0800c0be :
- 800c0be: 42ac cmp r4, r5
- 800c0c0: da03 bge.n 800c0ca
- 800c0c2: f854 1b04 ldr.w r1, [r4], #4
- 800c0c6: 4788 blx r1
- 800c0c8: e7f9 b.n 800c0be
-
-0800c0ca :
- 800c0ca: f000 bd09 b.w 800cae0 <__default_exit>
- 800c0ce: 0000 .short 0x0000
- 800c0d0: 20000800 .word 0x20000800
- 800c0d4: 55555555 .word 0x55555555
- 800c0d8: 20000000 .word 0x20000000
- 800c0dc: 20000400 .word 0x20000400
- 800c0e0: 20000400 .word 0x20000400
- 800c0e4: 08013b48 .word 0x08013b48
- 800c0e8: 20000800 .word 0x20000800
- 800c0ec: 20000c3c .word 0x20000c3c
- 800c0f0: 20000c40 .word 0x20000c40
- 800c0f4: 20002e28 .word 0x20002e28
- 800c0f8: 0800c000 .word 0x0800c000
- 800c0fc: 0800c000 .word 0x0800c000
- 800c100: 0800c000 .word 0x0800c000
- 800c104: 0800c000 .word 0x0800c000
- ...
-
-0800c110 <_port_switch>:
- 800c110: e92d 4ff0 stmdb sp!, {r4, r5, r6, r7, r8, r9, sl, fp, lr}
- 800c114: ed2d 8a10 vpush {s16-s31}
- 800c118: f8c1 d00c str.w sp, [r1, #12]
- 800c11c: f8d0 d00c ldr.w sp, [r0, #12]
- 800c120: ecbd 8a10 vpop {s16-s31}
- 800c124: e8bd 8ff0 ldmia.w sp!, {r4, r5, r6, r7, r8, r9, sl, fp, pc}
-
-0800c128 <_port_thread_start>:
- 800c128: 2300 movs r3, #0
- 800c12a: f383 8811 msr BASEPRI, r3
- 800c12e: 4628 mov r0, r5
- 800c130: 47a0 blx r4
- 800c132: 2000 movs r0, #0
- 800c134: f000 ffe4 bl 800d100
-
-0800c138 <_port_switch_from_isr>:
- 800c138: f000 ff02 bl 800cf40
-
-0800c13c <_port_exit_from_isr>:
- 800c13c: df00 svc 0
- 800c13e: e7fe b.n 800c13e <_port_exit_from_isr+0x2>
-
-0800c140 <__aeabi_drsub>:
- 800c140: f081 4100 eor.w r1, r1, #2147483648 ; 0x80000000
- 800c144: e002 b.n 800c14c <__adddf3>
- 800c146: bf00 nop
-
-0800c148 <__aeabi_dsub>:
- 800c148: f083 4300 eor.w r3, r3, #2147483648 ; 0x80000000
-
-0800c14c <__adddf3>:
- 800c14c: b530 push {r4, r5, lr}
- 800c14e: ea4f 0441 mov.w r4, r1, lsl #1
- 800c152: ea4f 0543 mov.w r5, r3, lsl #1
- 800c156: ea94 0f05 teq r4, r5
- 800c15a: bf08 it eq
- 800c15c: ea90 0f02 teqeq r0, r2
- 800c160: bf1f itttt ne
- 800c162: ea54 0c00 orrsne.w ip, r4, r0
- 800c166: ea55 0c02 orrsne.w ip, r5, r2
- 800c16a: ea7f 5c64 mvnsne.w ip, r4, asr #21
- 800c16e: ea7f 5c65 mvnsne.w ip, r5, asr #21
- 800c172: f000 80e2 beq.w 800c33a <__adddf3+0x1ee>
- 800c176: ea4f 5454 mov.w r4, r4, lsr #21
- 800c17a: ebd4 5555 rsbs r5, r4, r5, lsr #21
- 800c17e: bfb8 it lt
- 800c180: 426d neglt r5, r5
- 800c182: dd0c ble.n 800c19e <__adddf3+0x52>
- 800c184: 442c add r4, r5
- 800c186: ea80 0202 eor.w r2, r0, r2
- 800c18a: ea81 0303 eor.w r3, r1, r3
- 800c18e: ea82 0000 eor.w r0, r2, r0
- 800c192: ea83 0101 eor.w r1, r3, r1
- 800c196: ea80 0202 eor.w r2, r0, r2
- 800c19a: ea81 0303 eor.w r3, r1, r3
- 800c19e: 2d36 cmp r5, #54 ; 0x36
- 800c1a0: bf88 it hi
- 800c1a2: bd30 pophi {r4, r5, pc}
- 800c1a4: f011 4f00 tst.w r1, #2147483648 ; 0x80000000
- 800c1a8: ea4f 3101 mov.w r1, r1, lsl #12
- 800c1ac: f44f 1c80 mov.w ip, #1048576 ; 0x100000
- 800c1b0: ea4c 3111 orr.w r1, ip, r1, lsr #12
- 800c1b4: d002 beq.n 800c1bc <__adddf3+0x70>
- 800c1b6: 4240 negs r0, r0
- 800c1b8: eb61 0141 sbc.w r1, r1, r1, lsl #1
- 800c1bc: f013 4f00 tst.w r3, #2147483648 ; 0x80000000
- 800c1c0: ea4f 3303 mov.w r3, r3, lsl #12
- 800c1c4: ea4c 3313 orr.w r3, ip, r3, lsr #12
- 800c1c8: d002 beq.n 800c1d0 <__adddf3+0x84>
- 800c1ca: 4252 negs r2, r2
- 800c1cc: eb63 0343 sbc.w r3, r3, r3, lsl #1
- 800c1d0: ea94 0f05 teq r4, r5
- 800c1d4: f000 80a7 beq.w 800c326 <__adddf3+0x1da>
- 800c1d8: f1a4 0401 sub.w r4, r4, #1
- 800c1dc: f1d5 0e20 rsbs lr, r5, #32
- 800c1e0: db0d blt.n 800c1fe <__adddf3+0xb2>
- 800c1e2: fa02 fc0e lsl.w ip, r2, lr
- 800c1e6: fa22 f205 lsr.w r2, r2, r5
- 800c1ea: 1880 adds r0, r0, r2
- 800c1ec: f141 0100 adc.w r1, r1, #0
- 800c1f0: fa03 f20e lsl.w r2, r3, lr
- 800c1f4: 1880 adds r0, r0, r2
- 800c1f6: fa43 f305 asr.w r3, r3, r5
- 800c1fa: 4159 adcs r1, r3
- 800c1fc: e00e b.n 800c21c <__adddf3+0xd0>
- 800c1fe: f1a5 0520 sub.w r5, r5, #32
- 800c202: f10e 0e20 add.w lr, lr, #32
- 800c206: 2a01 cmp r2, #1
- 800c208: fa03 fc0e lsl.w ip, r3, lr
- 800c20c: bf28 it cs
- 800c20e: f04c 0c02 orrcs.w ip, ip, #2
- 800c212: fa43 f305 asr.w r3, r3, r5
- 800c216: 18c0 adds r0, r0, r3
- 800c218: eb51 71e3 adcs.w r1, r1, r3, asr #31
- 800c21c: f001 4500 and.w r5, r1, #2147483648 ; 0x80000000
- 800c220: d507 bpl.n 800c232 <__adddf3+0xe6>
- 800c222: f04f 0e00 mov.w lr, #0
- 800c226: f1dc 0c00 rsbs ip, ip, #0
- 800c22a: eb7e 0000 sbcs.w r0, lr, r0
- 800c22e: eb6e 0101 sbc.w r1, lr, r1
- 800c232: f5b1 1f80 cmp.w r1, #1048576 ; 0x100000
- 800c236: d31b bcc.n 800c270 <__adddf3+0x124>
- 800c238: f5b1 1f00 cmp.w r1, #2097152 ; 0x200000
- 800c23c: d30c bcc.n 800c258 <__adddf3+0x10c>
- 800c23e: 0849 lsrs r1, r1, #1
- 800c240: ea5f 0030 movs.w r0, r0, rrx
- 800c244: ea4f 0c3c mov.w ip, ip, rrx
- 800c248: f104 0401 add.w r4, r4, #1
- 800c24c: ea4f 5244 mov.w r2, r4, lsl #21
- 800c250: f512 0f80 cmn.w r2, #4194304 ; 0x400000
- 800c254: f080 809a bcs.w 800c38c <__adddf3+0x240>
- 800c258: f1bc 4f00 cmp.w ip, #2147483648 ; 0x80000000
- 800c25c: bf08 it eq
- 800c25e: ea5f 0c50 movseq.w ip, r0, lsr #1
- 800c262: f150 0000 adcs.w r0, r0, #0
- 800c266: eb41 5104 adc.w r1, r1, r4, lsl #20
- 800c26a: ea41 0105 orr.w r1, r1, r5
- 800c26e: bd30 pop {r4, r5, pc}
- 800c270: ea5f 0c4c movs.w ip, ip, lsl #1
- 800c274: 4140 adcs r0, r0
- 800c276: eb41 0101 adc.w r1, r1, r1
- 800c27a: f411 1f80 tst.w r1, #1048576 ; 0x100000
- 800c27e: f1a4 0401 sub.w r4, r4, #1
- 800c282: d1e9 bne.n 800c258 <__adddf3+0x10c>
- 800c284: f091 0f00 teq r1, #0
- 800c288: bf04 itt eq
- 800c28a: 4601 moveq r1, r0
- 800c28c: 2000 moveq r0, #0
- 800c28e: fab1 f381 clz r3, r1
- 800c292: bf08 it eq
- 800c294: 3320 addeq r3, #32
- 800c296: f1a3 030b sub.w r3, r3, #11
- 800c29a: f1b3 0220 subs.w r2, r3, #32
- 800c29e: da0c bge.n 800c2ba <__adddf3+0x16e>
- 800c2a0: 320c adds r2, #12
- 800c2a2: dd08 ble.n 800c2b6 <__adddf3+0x16a>
- 800c2a4: f102 0c14 add.w ip, r2, #20
- 800c2a8: f1c2 020c rsb r2, r2, #12
- 800c2ac: fa01 f00c lsl.w r0, r1, ip
- 800c2b0: fa21 f102 lsr.w r1, r1, r2
- 800c2b4: e00c b.n 800c2d0 <__adddf3+0x184>
- 800c2b6: f102 0214 add.w r2, r2, #20
- 800c2ba: bfd8 it le
- 800c2bc: f1c2 0c20 rsble ip, r2, #32
- 800c2c0: fa01 f102 lsl.w r1, r1, r2
- 800c2c4: fa20 fc0c lsr.w ip, r0, ip
- 800c2c8: bfdc itt le
- 800c2ca: ea41 010c orrle.w r1, r1, ip
- 800c2ce: 4090 lslle r0, r2
- 800c2d0: 1ae4 subs r4, r4, r3
- 800c2d2: bfa2 ittt ge
- 800c2d4: eb01 5104 addge.w r1, r1, r4, lsl #20
- 800c2d8: 4329 orrge r1, r5
- 800c2da: bd30 popge {r4, r5, pc}
- 800c2dc: ea6f 0404 mvn.w r4, r4
- 800c2e0: 3c1f subs r4, #31
- 800c2e2: da1c bge.n 800c31e <__adddf3+0x1d2>
- 800c2e4: 340c adds r4, #12
- 800c2e6: dc0e bgt.n 800c306 <__adddf3+0x1ba>
- 800c2e8: f104 0414 add.w r4, r4, #20
- 800c2ec: f1c4 0220 rsb r2, r4, #32
- 800c2f0: fa20 f004 lsr.w r0, r0, r4
- 800c2f4: fa01 f302 lsl.w r3, r1, r2
- 800c2f8: ea40 0003 orr.w r0, r0, r3
- 800c2fc: fa21 f304 lsr.w r3, r1, r4
- 800c300: ea45 0103 orr.w r1, r5, r3
- 800c304: bd30 pop {r4, r5, pc}
- 800c306: f1c4 040c rsb r4, r4, #12
- 800c30a: f1c4 0220 rsb r2, r4, #32
- 800c30e: fa20 f002 lsr.w r0, r0, r2
- 800c312: fa01 f304 lsl.w r3, r1, r4
- 800c316: ea40 0003 orr.w r0, r0, r3
- 800c31a: 4629 mov r1, r5
- 800c31c: bd30 pop {r4, r5, pc}
- 800c31e: fa21 f004 lsr.w r0, r1, r4
- 800c322: 4629 mov r1, r5
- 800c324: bd30 pop {r4, r5, pc}
- 800c326: f094 0f00 teq r4, #0
- 800c32a: f483 1380 eor.w r3, r3, #1048576 ; 0x100000
- 800c32e: bf06 itte eq
- 800c330: f481 1180 eoreq.w r1, r1, #1048576 ; 0x100000
- 800c334: 3401 addeq r4, #1
- 800c336: 3d01 subne r5, #1
- 800c338: e74e b.n 800c1d8 <__adddf3+0x8c>
- 800c33a: ea7f 5c64 mvns.w ip, r4, asr #21
- 800c33e: bf18 it ne
- 800c340: ea7f 5c65 mvnsne.w ip, r5, asr #21
- 800c344: d029 beq.n 800c39a <__adddf3+0x24e>
- 800c346: ea94 0f05 teq r4, r5
- 800c34a: bf08 it eq
- 800c34c: ea90 0f02 teqeq r0, r2
- 800c350: d005 beq.n 800c35e <__adddf3+0x212>
- 800c352: ea54 0c00 orrs.w ip, r4, r0
- 800c356: bf04 itt eq
- 800c358: 4619 moveq r1, r3
- 800c35a: 4610 moveq r0, r2
- 800c35c: bd30 pop {r4, r5, pc}
- 800c35e: ea91 0f03 teq r1, r3
- 800c362: bf1e ittt ne
- 800c364: 2100 movne r1, #0
- 800c366: 2000 movne r0, #0
- 800c368: bd30 popne {r4, r5, pc}
- 800c36a: ea5f 5c54 movs.w ip, r4, lsr #21
- 800c36e: d105 bne.n 800c37c <__adddf3+0x230>
- 800c370: 0040 lsls r0, r0, #1
- 800c372: 4149 adcs r1, r1
- 800c374: bf28 it cs
- 800c376: f041 4100 orrcs.w r1, r1, #2147483648 ; 0x80000000
- 800c37a: bd30 pop {r4, r5, pc}
- 800c37c: f514 0480 adds.w r4, r4, #4194304 ; 0x400000
- 800c380: bf3c itt cc
- 800c382: f501 1180 addcc.w r1, r1, #1048576 ; 0x100000
- 800c386: bd30 popcc {r4, r5, pc}
- 800c388: f001 4500 and.w r5, r1, #2147483648 ; 0x80000000
- 800c38c: f045 41fe orr.w r1, r5, #2130706432 ; 0x7f000000
- 800c390: f441 0170 orr.w r1, r1, #15728640 ; 0xf00000
- 800c394: f04f 0000 mov.w r0, #0
- 800c398: bd30 pop {r4, r5, pc}
- 800c39a: ea7f 5c64 mvns.w ip, r4, asr #21
- 800c39e: bf1a itte ne
- 800c3a0: 4619 movne r1, r3
- 800c3a2: 4610 movne r0, r2
- 800c3a4: ea7f 5c65 mvnseq.w ip, r5, asr #21
- 800c3a8: bf1c itt ne
- 800c3aa: 460b movne r3, r1
- 800c3ac: 4602 movne r2, r0
- 800c3ae: ea50 3401 orrs.w r4, r0, r1, lsl #12
- 800c3b2: bf06 itte eq
- 800c3b4: ea52 3503 orrseq.w r5, r2, r3, lsl #12
- 800c3b8: ea91 0f03 teqeq r1, r3
- 800c3bc: f441 2100 orrne.w r1, r1, #524288 ; 0x80000
- 800c3c0: bd30 pop {r4, r5, pc}
- 800c3c2: bf00 nop
-
-0800c3c4 <__aeabi_ui2d>:
- 800c3c4: f090 0f00 teq r0, #0
- 800c3c8: bf04 itt eq
- 800c3ca: 2100 moveq r1, #0
- 800c3cc: 4770 bxeq lr
- 800c3ce: b530 push {r4, r5, lr}
- 800c3d0: f44f 6480 mov.w r4, #1024 ; 0x400
- 800c3d4: f104 0432 add.w r4, r4, #50 ; 0x32
- 800c3d8: f04f 0500 mov.w r5, #0
- 800c3dc: f04f 0100 mov.w r1, #0
- 800c3e0: e750 b.n 800c284 <__adddf3+0x138>
- 800c3e2: bf00 nop
-
-0800c3e4 <__aeabi_i2d>:
- 800c3e4: f090 0f00 teq r0, #0
- 800c3e8: bf04 itt eq
- 800c3ea: 2100 moveq r1, #0
- 800c3ec: 4770 bxeq lr
- 800c3ee: b530 push {r4, r5, lr}
- 800c3f0: f44f 6480 mov.w r4, #1024 ; 0x400
- 800c3f4: f104 0432 add.w r4, r4, #50 ; 0x32
- 800c3f8: f010 4500 ands.w r5, r0, #2147483648 ; 0x80000000
- 800c3fc: bf48 it mi
- 800c3fe: 4240 negmi r0, r0
- 800c400: f04f 0100 mov.w r1, #0
- 800c404: e73e b.n 800c284 <__adddf3+0x138>
- 800c406: bf00 nop
-
-0800c408 <__aeabi_f2d>:
- 800c408: 0042 lsls r2, r0, #1
- 800c40a: ea4f 01e2 mov.w r1, r2, asr #3
- 800c40e: ea4f 0131 mov.w r1, r1, rrx
- 800c412: ea4f 7002 mov.w r0, r2, lsl #28
- 800c416: bf1f itttt ne
- 800c418: f012 437f andsne.w r3, r2, #4278190080 ; 0xff000000
- 800c41c: f093 4f7f teqne r3, #4278190080 ; 0xff000000
- 800c420: f081 5160 eorne.w r1, r1, #939524096 ; 0x38000000
- 800c424: 4770 bxne lr
- 800c426: f092 0f00 teq r2, #0
- 800c42a: bf14 ite ne
- 800c42c: f093 4f7f teqne r3, #4278190080 ; 0xff000000
- 800c430: 4770 bxeq lr
- 800c432: b530 push {r4, r5, lr}
- 800c434: f44f 7460 mov.w r4, #896 ; 0x380
- 800c438: f001 4500 and.w r5, r1, #2147483648 ; 0x80000000
- 800c43c: f021 4100 bic.w r1, r1, #2147483648 ; 0x80000000
- 800c440: e720 b.n 800c284 <__adddf3+0x138>
- 800c442: bf00 nop
-
-0800c444 <__aeabi_ul2d>:
- 800c444: ea50 0201 orrs.w r2, r0, r1
- 800c448: bf08 it eq
- 800c44a: 4770 bxeq lr
- 800c44c: b530 push {r4, r5, lr}
- 800c44e: f04f 0500 mov.w r5, #0
- 800c452: e00a b.n 800c46a <__aeabi_l2d+0x16>
-
-0800c454 <__aeabi_l2d>:
- 800c454: ea50 0201 orrs.w r2, r0, r1
- 800c458: bf08 it eq
- 800c45a: 4770 bxeq lr
- 800c45c: b530 push {r4, r5, lr}
- 800c45e: f011 4500 ands.w r5, r1, #2147483648 ; 0x80000000
- 800c462: d502 bpl.n 800c46a <__aeabi_l2d+0x16>
- 800c464: 4240 negs r0, r0
- 800c466: eb61 0141 sbc.w r1, r1, r1, lsl #1
- 800c46a: f44f 6480 mov.w r4, #1024 ; 0x400
- 800c46e: f104 0432 add.w r4, r4, #50 ; 0x32
- 800c472: ea5f 5c91 movs.w ip, r1, lsr #22
- 800c476: f43f aedc beq.w 800c232 <__adddf3+0xe6>
- 800c47a: f04f 0203 mov.w r2, #3
- 800c47e: ea5f 0cdc movs.w ip, ip, lsr #3
- 800c482: bf18 it ne
- 800c484: 3203 addne r2, #3
- 800c486: ea5f 0cdc movs.w ip, ip, lsr #3
- 800c48a: bf18 it ne
- 800c48c: 3203 addne r2, #3
- 800c48e: eb02 02dc add.w r2, r2, ip, lsr #3
- 800c492: f1c2 0320 rsb r3, r2, #32
- 800c496: fa00 fc03 lsl.w ip, r0, r3
- 800c49a: fa20 f002 lsr.w r0, r0, r2
- 800c49e: fa01 fe03 lsl.w lr, r1, r3
- 800c4a2: ea40 000e orr.w r0, r0, lr
- 800c4a6: fa21 f102 lsr.w r1, r1, r2
- 800c4aa: 4414 add r4, r2
- 800c4ac: e6c1 b.n 800c232 <__adddf3+0xe6>
- 800c4ae: bf00 nop
-
-0800c4b0 <__aeabi_dmul>:
- 800c4b0: b570 push {r4, r5, r6, lr}
- 800c4b2: f04f 0cff mov.w ip, #255 ; 0xff
- 800c4b6: f44c 6ce0 orr.w ip, ip, #1792 ; 0x700
- 800c4ba: ea1c 5411 ands.w r4, ip, r1, lsr #20
- 800c4be: bf1d ittte ne
- 800c4c0: ea1c 5513 andsne.w r5, ip, r3, lsr #20
- 800c4c4: ea94 0f0c teqne r4, ip
- 800c4c8: ea95 0f0c teqne r5, ip
- 800c4cc: f000 f8de bleq 800c68c <__aeabi_dmul+0x1dc>
- 800c4d0: 442c add r4, r5
- 800c4d2: ea81 0603 eor.w r6, r1, r3
- 800c4d6: ea21 514c bic.w r1, r1, ip, lsl #21
- 800c4da: ea23 534c bic.w r3, r3, ip, lsl #21
- 800c4de: ea50 3501 orrs.w r5, r0, r1, lsl #12
- 800c4e2: bf18 it ne
- 800c4e4: ea52 3503 orrsne.w r5, r2, r3, lsl #12
- 800c4e8: f441 1180 orr.w r1, r1, #1048576 ; 0x100000
- 800c4ec: f443 1380 orr.w r3, r3, #1048576 ; 0x100000
- 800c4f0: d038 beq.n 800c564 <__aeabi_dmul+0xb4>
- 800c4f2: fba0 ce02 umull ip, lr, r0, r2
- 800c4f6: f04f 0500 mov.w r5, #0
- 800c4fa: fbe1 e502 umlal lr, r5, r1, r2
- 800c4fe: f006 4200 and.w r2, r6, #2147483648 ; 0x80000000
- 800c502: fbe0 e503 umlal lr, r5, r0, r3
- 800c506: f04f 0600 mov.w r6, #0
- 800c50a: fbe1 5603 umlal r5, r6, r1, r3
- 800c50e: f09c 0f00 teq ip, #0
- 800c512: bf18 it ne
- 800c514: f04e 0e01 orrne.w lr, lr, #1
- 800c518: f1a4 04ff sub.w r4, r4, #255 ; 0xff
- 800c51c: f5b6 7f00 cmp.w r6, #512 ; 0x200
- 800c520: f564 7440 sbc.w r4, r4, #768 ; 0x300
- 800c524: d204 bcs.n 800c530 <__aeabi_dmul+0x80>
- 800c526: ea5f 0e4e movs.w lr, lr, lsl #1
- 800c52a: 416d adcs r5, r5
- 800c52c: eb46 0606 adc.w r6, r6, r6
- 800c530: ea42 21c6 orr.w r1, r2, r6, lsl #11
- 800c534: ea41 5155 orr.w r1, r1, r5, lsr #21
- 800c538: ea4f 20c5 mov.w r0, r5, lsl #11
- 800c53c: ea40 505e orr.w r0, r0, lr, lsr #21
- 800c540: ea4f 2ece mov.w lr, lr, lsl #11
- 800c544: f1b4 0cfd subs.w ip, r4, #253 ; 0xfd
- 800c548: bf88 it hi
- 800c54a: f5bc 6fe0 cmphi.w ip, #1792 ; 0x700
- 800c54e: d81e bhi.n 800c58e <__aeabi_dmul+0xde>
- 800c550: f1be 4f00 cmp.w lr, #2147483648 ; 0x80000000
- 800c554: bf08 it eq
- 800c556: ea5f 0e50 movseq.w lr, r0, lsr #1
- 800c55a: f150 0000 adcs.w r0, r0, #0
- 800c55e: eb41 5104 adc.w r1, r1, r4, lsl #20
- 800c562: bd70 pop {r4, r5, r6, pc}
- 800c564: f006 4600 and.w r6, r6, #2147483648 ; 0x80000000
- 800c568: ea46 0101 orr.w r1, r6, r1
- 800c56c: ea40 0002 orr.w r0, r0, r2
- 800c570: ea81 0103 eor.w r1, r1, r3
- 800c574: ebb4 045c subs.w r4, r4, ip, lsr #1
- 800c578: bfc2 ittt gt
- 800c57a: ebd4 050c rsbsgt r5, r4, ip
- 800c57e: ea41 5104 orrgt.w r1, r1, r4, lsl #20
- 800c582: bd70 popgt {r4, r5, r6, pc}
- 800c584: f441 1180 orr.w r1, r1, #1048576 ; 0x100000
- 800c588: f04f 0e00 mov.w lr, #0
- 800c58c: 3c01 subs r4, #1
- 800c58e: f300 80ab bgt.w 800c6e8 <__aeabi_dmul+0x238>
- 800c592: f114 0f36 cmn.w r4, #54 ; 0x36
- 800c596: bfde ittt le
- 800c598: 2000 movle r0, #0
- 800c59a: f001 4100 andle.w r1, r1, #2147483648 ; 0x80000000
- 800c59e: bd70 pople {r4, r5, r6, pc}
- 800c5a0: f1c4 0400 rsb r4, r4, #0
- 800c5a4: 3c20 subs r4, #32
- 800c5a6: da35 bge.n 800c614 <__aeabi_dmul+0x164>
- 800c5a8: 340c adds r4, #12
- 800c5aa: dc1b bgt.n 800c5e4 <__aeabi_dmul+0x134>
- 800c5ac: f104 0414 add.w r4, r4, #20
- 800c5b0: f1c4 0520 rsb r5, r4, #32
- 800c5b4: fa00 f305 lsl.w r3, r0, r5
- 800c5b8: fa20 f004 lsr.w r0, r0, r4
- 800c5bc: fa01 f205 lsl.w r2, r1, r5
- 800c5c0: ea40 0002 orr.w r0, r0, r2
- 800c5c4: f001 4200 and.w r2, r1, #2147483648 ; 0x80000000
- 800c5c8: f021 4100 bic.w r1, r1, #2147483648 ; 0x80000000
- 800c5cc: eb10 70d3 adds.w r0, r0, r3, lsr #31
- 800c5d0: fa21 f604 lsr.w r6, r1, r4
- 800c5d4: eb42 0106 adc.w r1, r2, r6
- 800c5d8: ea5e 0e43 orrs.w lr, lr, r3, lsl #1
- 800c5dc: bf08 it eq
- 800c5de: ea20 70d3 biceq.w r0, r0, r3, lsr #31
- 800c5e2: bd70 pop {r4, r5, r6, pc}
- 800c5e4: f1c4 040c rsb r4, r4, #12
- 800c5e8: f1c4 0520 rsb r5, r4, #32
- 800c5ec: fa00 f304 lsl.w r3, r0, r4
- 800c5f0: fa20 f005 lsr.w r0, r0, r5
- 800c5f4: fa01 f204 lsl.w r2, r1, r4
- 800c5f8: ea40 0002 orr.w r0, r0, r2
- 800c5fc: f001 4100 and.w r1, r1, #2147483648 ; 0x80000000
- 800c600: eb10 70d3 adds.w r0, r0, r3, lsr #31
- 800c604: f141 0100 adc.w r1, r1, #0
- 800c608: ea5e 0e43 orrs.w lr, lr, r3, lsl #1
- 800c60c: bf08 it eq
- 800c60e: ea20 70d3 biceq.w r0, r0, r3, lsr #31
- 800c612: bd70 pop {r4, r5, r6, pc}
- 800c614: f1c4 0520 rsb r5, r4, #32
- 800c618: fa00 f205 lsl.w r2, r0, r5
- 800c61c: ea4e 0e02 orr.w lr, lr, r2
- 800c620: fa20 f304 lsr.w r3, r0, r4
- 800c624: fa01 f205 lsl.w r2, r1, r5
- 800c628: ea43 0302 orr.w r3, r3, r2
- 800c62c: fa21 f004 lsr.w r0, r1, r4
- 800c630: f001 4100 and.w r1, r1, #2147483648 ; 0x80000000
- 800c634: fa21 f204 lsr.w r2, r1, r4
- 800c638: ea20 0002 bic.w r0, r0, r2
- 800c63c: eb00 70d3 add.w r0, r0, r3, lsr #31
- 800c640: ea5e 0e43 orrs.w lr, lr, r3, lsl #1
- 800c644: bf08 it eq
- 800c646: ea20 70d3 biceq.w r0, r0, r3, lsr #31
- 800c64a: bd70 pop {r4, r5, r6, pc}
- 800c64c: f094 0f00 teq r4, #0
- 800c650: d10f bne.n 800c672 <__aeabi_dmul+0x1c2>
- 800c652: f001 4600 and.w r6, r1, #2147483648 ; 0x80000000
- 800c656: 0040 lsls r0, r0, #1
- 800c658: eb41 0101 adc.w r1, r1, r1
- 800c65c: f411 1f80 tst.w r1, #1048576 ; 0x100000
- 800c660: bf08 it eq
- 800c662: 3c01 subeq r4, #1
- 800c664: d0f7 beq.n 800c656 <__aeabi_dmul+0x1a6>
- 800c666: ea41 0106 orr.w r1, r1, r6
- 800c66a: f095 0f00 teq r5, #0
- 800c66e: bf18 it ne
- 800c670: 4770 bxne lr
- 800c672: f003 4600 and.w r6, r3, #2147483648 ; 0x80000000
- 800c676: 0052 lsls r2, r2, #1
- 800c678: eb43 0303 adc.w r3, r3, r3
- 800c67c: f413 1f80 tst.w r3, #1048576 ; 0x100000
- 800c680: bf08 it eq
- 800c682: 3d01 subeq r5, #1
- 800c684: d0f7 beq.n 800c676 <__aeabi_dmul+0x1c6>
- 800c686: ea43 0306 orr.w r3, r3, r6
- 800c68a: 4770 bx lr
- 800c68c: ea94 0f0c teq r4, ip
- 800c690: ea0c 5513 and.w r5, ip, r3, lsr #20
- 800c694: bf18 it ne
- 800c696: ea95 0f0c teqne r5, ip
- 800c69a: d00c beq.n 800c6b6 <__aeabi_dmul+0x206>
- 800c69c: ea50 0641 orrs.w r6, r0, r1, lsl #1
- 800c6a0: bf18 it ne
- 800c6a2: ea52 0643 orrsne.w r6, r2, r3, lsl #1
- 800c6a6: d1d1 bne.n 800c64c <__aeabi_dmul+0x19c>
- 800c6a8: ea81 0103 eor.w r1, r1, r3
- 800c6ac: f001 4100 and.w r1, r1, #2147483648 ; 0x80000000
- 800c6b0: f04f 0000 mov.w r0, #0
- 800c6b4: bd70 pop {r4, r5, r6, pc}
- 800c6b6: ea50 0641 orrs.w r6, r0, r1, lsl #1
- 800c6ba: bf06 itte eq
- 800c6bc: 4610 moveq r0, r2
- 800c6be: 4619 moveq r1, r3
- 800c6c0: ea52 0643 orrsne.w r6, r2, r3, lsl #1
- 800c6c4: d019 beq.n 800c6fa <__aeabi_dmul+0x24a>
- 800c6c6: ea94 0f0c teq r4, ip
- 800c6ca: d102 bne.n 800c6d2 <__aeabi_dmul+0x222>
- 800c6cc: ea50 3601 orrs.w r6, r0, r1, lsl #12
- 800c6d0: d113 bne.n 800c6fa <__aeabi_dmul+0x24a>
- 800c6d2: ea95 0f0c teq r5, ip
- 800c6d6: d105 bne.n 800c6e4 <__aeabi_dmul+0x234>
- 800c6d8: ea52 3603 orrs.w r6, r2, r3, lsl #12
- 800c6dc: bf1c itt ne
- 800c6de: 4610 movne r0, r2
- 800c6e0: 4619 movne r1, r3
- 800c6e2: d10a bne.n 800c6fa <__aeabi_dmul+0x24a>
- 800c6e4: ea81 0103 eor.w r1, r1, r3
- 800c6e8: f001 4100 and.w r1, r1, #2147483648 ; 0x80000000
- 800c6ec: f041 41fe orr.w r1, r1, #2130706432 ; 0x7f000000
- 800c6f0: f441 0170 orr.w r1, r1, #15728640 ; 0xf00000
- 800c6f4: f04f 0000 mov.w r0, #0
- 800c6f8: bd70 pop {r4, r5, r6, pc}
- 800c6fa: f041 41fe orr.w r1, r1, #2130706432 ; 0x7f000000
- 800c6fe: f441 0178 orr.w r1, r1, #16252928 ; 0xf80000
- 800c702: bd70 pop {r4, r5, r6, pc}
-
-0800c704 <__aeabi_ddiv>:
- 800c704: b570 push {r4, r5, r6, lr}
- 800c706: f04f 0cff mov.w ip, #255 ; 0xff
- 800c70a: f44c 6ce0 orr.w ip, ip, #1792 ; 0x700
- 800c70e: ea1c 5411 ands.w r4, ip, r1, lsr #20
- 800c712: bf1d ittte ne
- 800c714: ea1c 5513 andsne.w r5, ip, r3, lsr #20
- 800c718: ea94 0f0c teqne r4, ip
- 800c71c: ea95 0f0c teqne r5, ip
- 800c720: f000 f8a7 bleq 800c872 <__aeabi_ddiv+0x16e>
- 800c724: eba4 0405 sub.w r4, r4, r5
- 800c728: ea81 0e03 eor.w lr, r1, r3
- 800c72c: ea52 3503 orrs.w r5, r2, r3, lsl #12
- 800c730: ea4f 3101 mov.w r1, r1, lsl #12
- 800c734: f000 8088 beq.w 800c848 <__aeabi_ddiv+0x144>
- 800c738: ea4f 3303 mov.w r3, r3, lsl #12
- 800c73c: f04f 5580 mov.w r5, #268435456 ; 0x10000000
- 800c740: ea45 1313 orr.w r3, r5, r3, lsr #4
- 800c744: ea43 6312 orr.w r3, r3, r2, lsr #24
- 800c748: ea4f 2202 mov.w r2, r2, lsl #8
- 800c74c: ea45 1511 orr.w r5, r5, r1, lsr #4
- 800c750: ea45 6510 orr.w r5, r5, r0, lsr #24
- 800c754: ea4f 2600 mov.w r6, r0, lsl #8
- 800c758: f00e 4100 and.w r1, lr, #2147483648 ; 0x80000000
- 800c75c: 429d cmp r5, r3
- 800c75e: bf08 it eq
- 800c760: 4296 cmpeq r6, r2
- 800c762: f144 04fd adc.w r4, r4, #253 ; 0xfd
- 800c766: f504 7440 add.w r4, r4, #768 ; 0x300
- 800c76a: d202 bcs.n 800c772 <__aeabi_ddiv+0x6e>
- 800c76c: 085b lsrs r3, r3, #1
- 800c76e: ea4f 0232 mov.w r2, r2, rrx
- 800c772: 1ab6 subs r6, r6, r2
- 800c774: eb65 0503 sbc.w r5, r5, r3
- 800c778: 085b lsrs r3, r3, #1
- 800c77a: ea4f 0232 mov.w r2, r2, rrx
- 800c77e: f44f 1080 mov.w r0, #1048576 ; 0x100000
- 800c782: f44f 2c00 mov.w ip, #524288 ; 0x80000
- 800c786: ebb6 0e02 subs.w lr, r6, r2
- 800c78a: eb75 0e03 sbcs.w lr, r5, r3
- 800c78e: bf22 ittt cs
- 800c790: 1ab6 subcs r6, r6, r2
- 800c792: 4675 movcs r5, lr
- 800c794: ea40 000c orrcs.w r0, r0, ip
- 800c798: 085b lsrs r3, r3, #1
- 800c79a: ea4f 0232 mov.w r2, r2, rrx
- 800c79e: ebb6 0e02 subs.w lr, r6, r2
- 800c7a2: eb75 0e03 sbcs.w lr, r5, r3
- 800c7a6: bf22 ittt cs
- 800c7a8: 1ab6 subcs r6, r6, r2
- 800c7aa: 4675 movcs r5, lr
- 800c7ac: ea40 005c orrcs.w r0, r0, ip, lsr #1
- 800c7b0: 085b lsrs r3, r3, #1
- 800c7b2: ea4f 0232 mov.w r2, r2, rrx
- 800c7b6: ebb6 0e02 subs.w lr, r6, r2
- 800c7ba: eb75 0e03 sbcs.w lr, r5, r3
- 800c7be: bf22 ittt cs
- 800c7c0: 1ab6 subcs r6, r6, r2
- 800c7c2: 4675 movcs r5, lr
- 800c7c4: ea40 009c orrcs.w r0, r0, ip, lsr #2
- 800c7c8: 085b lsrs r3, r3, #1
- 800c7ca: ea4f 0232 mov.w r2, r2, rrx
- 800c7ce: ebb6 0e02 subs.w lr, r6, r2
- 800c7d2: eb75 0e03 sbcs.w lr, r5, r3
- 800c7d6: bf22 ittt cs
- 800c7d8: 1ab6 subcs r6, r6, r2
- 800c7da: 4675 movcs r5, lr
- 800c7dc: ea40 00dc orrcs.w r0, r0, ip, lsr #3
- 800c7e0: ea55 0e06 orrs.w lr, r5, r6
- 800c7e4: d018 beq.n 800c818 <__aeabi_ddiv+0x114>
- 800c7e6: ea4f 1505 mov.w r5, r5, lsl #4
- 800c7ea: ea45 7516 orr.w r5, r5, r6, lsr #28
- 800c7ee: ea4f 1606 mov.w r6, r6, lsl #4
- 800c7f2: ea4f 03c3 mov.w r3, r3, lsl #3
- 800c7f6: ea43 7352 orr.w r3, r3, r2, lsr #29
- 800c7fa: ea4f 02c2 mov.w r2, r2, lsl #3
- 800c7fe: ea5f 1c1c movs.w ip, ip, lsr #4
- 800c802: d1c0 bne.n 800c786 <__aeabi_ddiv+0x82>
- 800c804: f411 1f80 tst.w r1, #1048576 ; 0x100000
- 800c808: d10b bne.n 800c822 <__aeabi_ddiv+0x11e>
- 800c80a: ea41 0100 orr.w r1, r1, r0
- 800c80e: f04f 0000 mov.w r0, #0
- 800c812: f04f 4c00 mov.w ip, #2147483648 ; 0x80000000
- 800c816: e7b6 b.n 800c786 <__aeabi_ddiv+0x82>
- 800c818: f411 1f80 tst.w r1, #1048576 ; 0x100000
- 800c81c: bf04 itt eq
- 800c81e: 4301 orreq r1, r0
- 800c820: 2000 moveq r0, #0
- 800c822: f1b4 0cfd subs.w ip, r4, #253 ; 0xfd
- 800c826: bf88 it hi
- 800c828: f5bc 6fe0 cmphi.w ip, #1792 ; 0x700
- 800c82c: f63f aeaf bhi.w 800c58e <__aeabi_dmul+0xde>
- 800c830: ebb5 0c03 subs.w ip, r5, r3
- 800c834: bf04 itt eq
- 800c836: ebb6 0c02 subseq.w ip, r6, r2
- 800c83a: ea5f 0c50 movseq.w ip, r0, lsr #1
- 800c83e: f150 0000 adcs.w r0, r0, #0
- 800c842: eb41 5104 adc.w r1, r1, r4, lsl #20
- 800c846: bd70 pop {r4, r5, r6, pc}
- 800c848: f00e 4e00 and.w lr, lr, #2147483648 ; 0x80000000
- 800c84c: ea4e 3111 orr.w r1, lr, r1, lsr #12
- 800c850: eb14 045c adds.w r4, r4, ip, lsr #1
- 800c854: bfc2 ittt gt
- 800c856: ebd4 050c rsbsgt r5, r4, ip
- 800c85a: ea41 5104 orrgt.w r1, r1, r4, lsl #20
- 800c85e: bd70 popgt {r4, r5, r6, pc}
- 800c860: f441 1180 orr.w r1, r1, #1048576 ; 0x100000
- 800c864: f04f 0e00 mov.w lr, #0
- 800c868: 3c01 subs r4, #1
- 800c86a: e690 b.n 800c58e <__aeabi_dmul+0xde>
- 800c86c: ea45 0e06 orr.w lr, r5, r6
- 800c870: e68d b.n 800c58e <__aeabi_dmul+0xde>
- 800c872: ea0c 5513 and.w r5, ip, r3, lsr #20
- 800c876: ea94 0f0c teq r4, ip
- 800c87a: bf08 it eq
- 800c87c: ea95 0f0c teqeq r5, ip
- 800c880: f43f af3b beq.w 800c6fa <__aeabi_dmul+0x24a>
- 800c884: ea94 0f0c teq r4, ip
- 800c888: d10a bne.n 800c8a0 <__aeabi_ddiv+0x19c>
- 800c88a: ea50 3401 orrs.w r4, r0, r1, lsl #12
- 800c88e: f47f af34 bne.w 800c6fa <__aeabi_dmul+0x24a>
- 800c892: ea95 0f0c teq r5, ip
- 800c896: f47f af25 bne.w 800c6e4 <__aeabi_dmul+0x234>
- 800c89a: 4610 mov r0, r2
- 800c89c: 4619 mov r1, r3
- 800c89e: e72c b.n 800c6fa <__aeabi_dmul+0x24a>
- 800c8a0: ea95 0f0c teq r5, ip
- 800c8a4: d106 bne.n 800c8b4 <__aeabi_ddiv+0x1b0>
- 800c8a6: ea52 3503 orrs.w r5, r2, r3, lsl #12
- 800c8aa: f43f aefd beq.w 800c6a8 <__aeabi_dmul+0x1f8>
- 800c8ae: 4610 mov r0, r2
- 800c8b0: 4619 mov r1, r3
- 800c8b2: e722 b.n 800c6fa <__aeabi_dmul+0x24a>
- 800c8b4: ea50 0641 orrs.w r6, r0, r1, lsl #1
- 800c8b8: bf18 it ne
- 800c8ba: ea52 0643 orrsne.w r6, r2, r3, lsl #1
- 800c8be: f47f aec5 bne.w 800c64c <__aeabi_dmul+0x19c>
- 800c8c2: ea50 0441 orrs.w r4, r0, r1, lsl #1
- 800c8c6: f47f af0d bne.w 800c6e4 <__aeabi_dmul+0x234>
- 800c8ca: ea52 0543 orrs.w r5, r2, r3, lsl #1
- 800c8ce: f47f aeeb bne.w 800c6a8 <__aeabi_dmul+0x1f8>
- 800c8d2: e712 b.n 800c6fa <__aeabi_dmul+0x24a>
- ...
-
-0800c8e0 <__aeabi_d2f>:
- 800c8e0: ea4f 0241 mov.w r2, r1, lsl #1
- 800c8e4: f1b2 43e0 subs.w r3, r2, #1879048192 ; 0x70000000
- 800c8e8: bf24 itt cs
- 800c8ea: f5b3 1c00 subscs.w ip, r3, #2097152 ; 0x200000
- 800c8ee: f1dc 5cfe rsbscs ip, ip, #532676608 ; 0x1fc00000
- 800c8f2: d90d bls.n 800c910 <__aeabi_d2f+0x30>
- 800c8f4: f001 4c00 and.w ip, r1, #2147483648 ; 0x80000000
- 800c8f8: ea4f 02c0 mov.w r2, r0, lsl #3
- 800c8fc: ea4c 7050 orr.w r0, ip, r0, lsr #29
- 800c900: f1b2 4f00 cmp.w r2, #2147483648 ; 0x80000000
- 800c904: eb40 0083 adc.w r0, r0, r3, lsl #2
- 800c908: bf08 it eq
- 800c90a: f020 0001 biceq.w r0, r0, #1
- 800c90e: 4770 bx lr
- 800c910: f011 4f80 tst.w r1, #1073741824 ; 0x40000000
- 800c914: d121 bne.n 800c95a <__aeabi_d2f+0x7a>
- 800c916: f113 7238 adds.w r2, r3, #48234496 ; 0x2e00000
- 800c91a: bfbc itt lt
- 800c91c: f001 4000 andlt.w r0, r1, #2147483648 ; 0x80000000
- 800c920: 4770 bxlt lr
- 800c922: f441 1180 orr.w r1, r1, #1048576 ; 0x100000
- 800c926: ea4f 5252 mov.w r2, r2, lsr #21
- 800c92a: f1c2 0218 rsb r2, r2, #24
- 800c92e: f1c2 0c20 rsb ip, r2, #32
- 800c932: fa10 f30c lsls.w r3, r0, ip
- 800c936: fa20 f002 lsr.w r0, r0, r2
- 800c93a: bf18 it ne
- 800c93c: f040 0001 orrne.w r0, r0, #1
- 800c940: ea4f 23c1 mov.w r3, r1, lsl #11
- 800c944: ea4f 23d3 mov.w r3, r3, lsr #11
- 800c948: fa03 fc0c lsl.w ip, r3, ip
- 800c94c: ea40 000c orr.w r0, r0, ip
- 800c950: fa23 f302 lsr.w r3, r3, r2
- 800c954: ea4f 0343 mov.w r3, r3, lsl #1
- 800c958: e7cc b.n 800c8f4 <__aeabi_d2f+0x14>
- 800c95a: ea7f 5362 mvns.w r3, r2, asr #21
- 800c95e: d107 bne.n 800c970 <__aeabi_d2f+0x90>
- 800c960: ea50 3301 orrs.w r3, r0, r1, lsl #12
- 800c964: bf1e ittt ne
- 800c966: f04f 40fe movne.w r0, #2130706432 ; 0x7f000000
- 800c96a: f440 0040 orrne.w r0, r0, #12582912 ; 0xc00000
- 800c96e: 4770 bxne lr
- 800c970: f001 4000 and.w r0, r1, #2147483648 ; 0x80000000
- 800c974: f040 40fe orr.w r0, r0, #2130706432 ; 0x7f000000
- 800c978: f440 0000 orr.w r0, r0, #8388608 ; 0x800000
- 800c97c: 4770 bx lr
- 800c97e: bf00 nop
-
-0800c980 :
- 800c980: 4684 mov ip, r0
- 800c982: ea41 0300 orr.w r3, r1, r0
- 800c986: f013 0303 ands.w r3, r3, #3
- 800c98a: d16d bne.n 800ca68
- 800c98c: 3a40 subs r2, #64 ; 0x40
- 800c98e: d341 bcc.n 800ca14
- 800c990: f851 3b04 ldr.w r3, [r1], #4
- 800c994: f840 3b04 str.w r3, [r0], #4
- 800c998: f851 3b04 ldr.w r3, [r1], #4
- 800c99c: f840 3b04 str.w r3, [r0], #4
- 800c9a0: f851 3b04 ldr.w r3, [r1], #4
- 800c9a4: f840 3b04 str.w r3, [r0], #4
- 800c9a8: f851 3b04 ldr.w r3, [r1], #4
- 800c9ac: f840 3b04 str.w r3, [r0], #4
- 800c9b0: f851 3b04 ldr.w r3, [r1], #4
- 800c9b4: f840 3b04 str.w r3, [r0], #4
- 800c9b8: f851 3b04 ldr.w r3, [r1], #4
- 800c9bc: f840 3b04 str.w r3, [r0], #4
- 800c9c0: f851 3b04 ldr.w r3, [r1], #4
- 800c9c4: f840 3b04 str.w r3, [r0], #4
- 800c9c8: f851 3b04 ldr.w r3, [r1], #4
- 800c9cc: f840 3b04 str.w r3, [r0], #4
- 800c9d0: f851 3b04 ldr.w r3, [r1], #4
- 800c9d4: f840 3b04 str.w r3, [r0], #4
- 800c9d8: f851 3b04 ldr.w r3, [r1], #4
- 800c9dc: f840 3b04 str.w r3, [r0], #4
- 800c9e0: f851 3b04 ldr.w r3, [r1], #4
- 800c9e4: f840 3b04 str.w r3, [r0], #4
- 800c9e8: f851 3b04 ldr.w r3, [r1], #4
- 800c9ec: f840 3b04 str.w r3, [r0], #4
- 800c9f0: f851 3b04 ldr.w r3, [r1], #4
- 800c9f4: f840 3b04 str.w r3, [r0], #4
- 800c9f8: f851 3b04 ldr.w r3, [r1], #4
- 800c9fc: f840 3b04 str.w r3, [r0], #4
- 800ca00: f851 3b04 ldr.w r3, [r1], #4
- 800ca04: f840 3b04 str.w r3, [r0], #4
- 800ca08: f851 3b04 ldr.w r3, [r1], #4
- 800ca0c: f840 3b04 str.w r3, [r0], #4
- 800ca10: 3a40 subs r2, #64 ; 0x40
- 800ca12: d2bd bcs.n 800c990
- 800ca14: 3230 adds r2, #48 ; 0x30
- 800ca16: d311 bcc.n 800ca3c
- 800ca18: f851 3b04 ldr.w r3, [r1], #4
- 800ca1c: f840 3b04 str.w r3, [r0], #4
- 800ca20: f851 3b04 ldr.w r3, [r1], #4
- 800ca24: f840 3b04 str.w r3, [r0], #4
- 800ca28: f851 3b04 ldr.w r3, [r1], #4
- 800ca2c: f840 3b04 str.w r3, [r0], #4
- 800ca30: f851 3b04 ldr.w r3, [r1], #4
- 800ca34: f840 3b04 str.w r3, [r0], #4
- 800ca38: 3a10 subs r2, #16
- 800ca3a: d2ed bcs.n 800ca18
- 800ca3c: 320c adds r2, #12
- 800ca3e: d305 bcc.n 800ca4c
- 800ca40: f851 3b04 ldr.w r3, [r1], #4
- 800ca44: f840 3b04 str.w r3, [r0], #4
- 800ca48: 3a04 subs r2, #4
- 800ca4a: d2f9 bcs.n 800ca40
- 800ca4c: 3204 adds r2, #4
- 800ca4e: d008 beq.n 800ca62
- 800ca50: 07d2 lsls r2, r2, #31
- 800ca52: bf1c itt ne
- 800ca54: f811 3b01 ldrbne.w r3, [r1], #1
- 800ca58: f800 3b01 strbne.w r3, [r0], #1
- 800ca5c: d301 bcc.n 800ca62
- 800ca5e: 880b ldrh r3, [r1, #0]
- 800ca60: 8003 strh r3, [r0, #0]
- 800ca62: 4660 mov r0, ip
- 800ca64: 4770 bx lr
- 800ca66: bf00 nop
- 800ca68: 2a08 cmp r2, #8
- 800ca6a: d313 bcc.n 800ca94
- 800ca6c: 078b lsls r3, r1, #30
- 800ca6e: d08d beq.n 800c98c
- 800ca70: f010 0303 ands.w r3, r0, #3
- 800ca74: d08a beq.n 800c98c
- 800ca76: f1c3 0304 rsb r3, r3, #4
- 800ca7a: 1ad2 subs r2, r2, r3
- 800ca7c: 07db lsls r3, r3, #31
- 800ca7e: bf1c itt ne
- 800ca80: f811 3b01 ldrbne.w r3, [r1], #1
- 800ca84: f800 3b01 strbne.w r3, [r0], #1
- 800ca88: d380 bcc.n 800c98c
- 800ca8a: f831 3b02 ldrh.w r3, [r1], #2
- 800ca8e: f820 3b02 strh.w r3, [r0], #2
- 800ca92: e77b b.n 800c98c
- 800ca94: 3a04 subs r2, #4
- 800ca96: d3d9 bcc.n 800ca4c
- 800ca98: 3a01 subs r2, #1
- 800ca9a: f811 3b01 ldrb.w r3, [r1], #1
- 800ca9e: f800 3b01 strb.w r3, [r0], #1
- 800caa2: d2f9 bcs.n 800ca98
- 800caa4: 780b ldrb r3, [r1, #0]
- 800caa6: 7003 strb r3, [r0, #0]
- 800caa8: 784b ldrb r3, [r1, #1]
- 800caaa: 7043 strb r3, [r0, #1]
- 800caac: 788b ldrb r3, [r1, #2]
- 800caae: 7083 strb r3, [r0, #2]
- 800cab0: 4660 mov r0, ip
- 800cab2: 4770 bx lr
- ...
-
-0800cac0 <__core_init>:
- */
-#if !defined(__DOXYGEN__)
-__attribute__((weak))
-#endif
-/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
-void __core_init(void) {
- 800cac0: 4770 bx lr
- 800cac2: bf00 nop
- 800cac4: f3af 8000 nop.w
- 800cac8: f3af 8000 nop.w
- 800cacc: f3af 8000 nop.w
-
-0800cad0 <__late_init>:
- */
-#if !defined(__DOXYGEN__)
-__attribute__((weak))
-#endif
-/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
-void __late_init(void) {}
- 800cad0: 4770 bx lr
- 800cad2: bf00 nop
- 800cad4: f3af 8000 nop.w
- 800cad8: f3af 8000 nop.w
- 800cadc: f3af 8000 nop.w
-
-0800cae0 <__default_exit>:
-/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
-void __default_exit(void) {
-/*lint -restore*/
-
- while (true) {
- }
- 800cae0: e7fe b.n 800cae0 <__default_exit>
- 800cae2: bf00 nop
- 800cae4: f3af 8000 nop.w
- 800cae8: f3af 8000 nop.w
- 800caec: f3af 8000 nop.w
-
-0800caf0 <_unhandled_exception>:
-/*lint -save -e9075 [8.4] All symbols are invoked from asm context.*/
-void _unhandled_exception(void) {
-/*lint -restore*/
-
- while (true) {
- }
- 800caf0: e7fe b.n 800caf0 <_unhandled_exception>
- 800caf2: bf00 nop
- 800caf4: f3af 8000 nop.w
- 800caf8: f3af 8000 nop.w
- 800cafc: f3af 8000 nop.w
-
-0800cb00 <_idle_thread>:
- * that this thread is executed only if there are no other ready
- * threads in the system.
- *
- * @param[in] p the thread parameter, unused in this scenario
- */
-static void _idle_thread(void *p) {
- 800cb00: e7fe b.n 800cb00 <_idle_thread>
- 800cb02: bf00 nop
- 800cb04: f3af 8000 nop.w
- 800cb08: f3af 8000 nop.w
- 800cb0c: f3af 8000 nop.w
-
-0800cb10 :
- * @brief Port-related initialization code.
- */
-static inline void port_init(void) {
-
- /* Initialization of the vector table and priority related settings.*/
- SCB->VTOR = CORTEX_VTOR_INIT;
- 800cb10: 4b20 ldr r3, [pc, #128] ; (800cb94 )
- uint32_t reg_value;
- uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); /* only values 0..7 are used */
-
- reg_value = SCB->AIRCR; /* read old register configuration */
- reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */
- reg_value = (reg_value |
- 800cb12: 4a21 ldr r2, [pc, #132] ; (800cb98 )
- /* Initializing priority grouping.*/
- NVIC_SetPriorityGrouping(CORTEX_PRIGROUP_INIT);
-
- /* DWT cycle counter enable.*/
- CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
- DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
- 800cb14: 4821 ldr r0, [pc, #132] ; (800cb9c )
- * @post The main thread is created with priority @p NORMALPRIO and
- * interrupts are enabled.
- *
- * @special
- */
-void chSysInit(void) {
- 800cb16: b5f0 push {r4, r5, r6, r7, lr}
- * @brief Port-related initialization code.
- */
-static inline void port_init(void) {
-
- /* Initialization of the vector table and priority related settings.*/
- SCB->VTOR = CORTEX_VTOR_INIT;
- 800cb18: 2400 movs r4, #0
- 800cb1a: 609c str r4, [r3, #8]
-__STATIC_INLINE void NVIC_SetPriorityGrouping(uint32_t PriorityGroup)
-{
- uint32_t reg_value;
- uint32_t PriorityGroupTmp = (PriorityGroup & (uint32_t)0x07); /* only values 0..7 are used */
-
- reg_value = SCB->AIRCR; /* read old register configuration */
- 800cb1c: 68df ldr r7, [r3, #12]
-
- /* Initializing priority grouping.*/
- NVIC_SetPriorityGrouping(CORTEX_PRIGROUP_INIT);
-
- /* DWT cycle counter enable.*/
- CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
- 800cb1e: 4e20 ldr r6, [pc, #128] ; (800cba0 )
- _dbg_trace_init();
-#endif
-
-#if CH_CFG_NO_IDLE_THREAD == FALSE
- /* Now this instructions flow becomes the main thread.*/
- setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
- 800cb20: 4d20 ldr r5, [pc, #128] ; (800cba4 )
- reg_value &= ~(SCB_AIRCR_VECTKEY_Msk | SCB_AIRCR_PRIGROUP_Msk); /* clear bits to change */
- 800cb22: f64f 01ff movw r1, #63743 ; 0xf8ff
- 800cb26: 4039 ands r1, r7
- reg_value = (reg_value |
- 800cb28: 430a orrs r2, r1
- ((uint32_t)0x5FA << SCB_AIRCR_VECTKEY_Pos) |
- (PriorityGroupTmp << 8)); /* Insert write key and priorty group */
- SCB->AIRCR = reg_value;
- 800cb2a: 60da str r2, [r3, #12]
- 800cb2c: 68f2 ldr r2, [r6, #12]
- 800cb2e: f042 7280 orr.w r2, r2, #16777216 ; 0x1000000
- 800cb32: 60f2 str r2, [r6, #12]
- DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
- 800cb34: 6802 ldr r2, [r0, #0]
- \param [in] priority Priority to set.
- */
-__STATIC_INLINE void NVIC_SetPriority(IRQn_Type IRQn, uint32_t priority)
-{
- if(IRQn < 0) {
- SCB->SHP[((uint32_t)(IRQn) & 0xF)-4] = ((priority << (8 - __NVIC_PRIO_BITS)) & 0xff); } /* set Priority for Cortex-M System Interrupts */
- 800cb36: 2120 movs r1, #32
- 800cb38: f042 0201 orr.w r2, r2, #1
- 800cb3c: 2610 movs r6, #16
- 800cb3e: 6002 str r2, [r0, #0]
- * @post The main thread is created with priority @p NORMALPRIO and
- * interrupts are enabled.
- *
- * @special
- */
-void chSysInit(void) {
- 800cb40: b083 sub sp, #12
- 800cb42: 77de strb r6, [r3, #31]
- 800cb44: f883 1022 strb.w r1, [r3, #34] ; 0x22
-#if CH_DBG_ENABLE_STACK_CHECK == TRUE
- extern stkalign_t __main_thread_stack_base__;
-#endif
-
- port_init();
- _scheduler_init();
- 800cb48: f000 f8fa bl 800cd40 <_scheduler_init>
- _vt_init();
- 800cb4c: f000 f878 bl 800cc40 <_vt_init>
-#if CH_CFG_USE_TM == TRUE
- _tm_init();
- 800cb50: f000 fb5e bl 800d210 <_tm_init>
-#endif
-#if CH_CFG_USE_MEMCORE == TRUE
- _core_init();
- 800cb54: f000 fcd4 bl 800d500 <_core_init>
-#endif
-#if CH_CFG_USE_HEAP == TRUE
- _heap_init();
- 800cb58: f000 fd0a bl 800d570 <_heap_init>
- _dbg_trace_init();
-#endif
-
-#if CH_CFG_NO_IDLE_THREAD == FALSE
- /* Now this instructions flow becomes the main thread.*/
- setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
- 800cb5c: 4628 mov r0, r5
- 800cb5e: 2140 movs r1, #64 ; 0x40
- 800cb60: f000 f9fe bl 800cf60 <_thread_init>
- 800cb64: f1a5 0330 sub.w r3, r5, #48 ; 0x30
-#else
- /* Now this instructions flow becomes the idle thread.*/
- setcurrp(_thread_init(&ch.mainthread, IDLEPRIO));
-#endif
-
- currp->p_state = CH_STATE_CURRENT;
- 800cb68: 2201 movs r2, #1
- _dbg_trace_init();
-#endif
-
-#if CH_CFG_NO_IDLE_THREAD == FALSE
- /* Now this instructions flow becomes the main thread.*/
- setcurrp(_thread_init(&ch.mainthread, NORMALPRIO));
- 800cb6a: 6198 str r0, [r3, #24]
-#else
- /* Now this instructions flow becomes the idle thread.*/
- setcurrp(_thread_init(&ch.mainthread, IDLEPRIO));
-#endif
-
- currp->p_state = CH_STATE_CURRENT;
- 800cb6c: 7702 strb r2, [r0, #28]
-
- \param [in] basePri Base Priority value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
-{
- __ASM volatile ("MSR basepri, %0" : : "r" (value) : "memory");
- 800cb6e: f384 8811 msr BASEPRI, r4
- This function enables IRQ interrupts by clearing the I-bit in the CPSR.
- Can only be executed in Privileged modes.
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __enable_irq(void)
-{
- __ASM volatile ("cpsie i" : : : "memory");
- 800cb72: b662 cpsie i
- * @api
- */
-static inline void chRegSetThreadName(const char *name) {
-
-#if CH_CFG_USE_REGISTRY == TRUE
- ch.rlist.r_current->p_name = name;
- 800cb74: 699b ldr r3, [r3, #24]
- 800cb76: 490c ldr r1, [pc, #48] ; (800cba8 )
- 800cb78: 6199 str r1, [r3, #24]
-#if CH_CFG_NO_IDLE_THREAD == FALSE
- {
- /* This thread has the lowest priority in the system, its role is just to
- serve interrupts in its context while keeping the lowest energy saving
- mode compatible with the system status.*/
- thread_t *tp = chThdCreateStatic(ch.idle_thread_wa,
- 800cb7a: f105 0050 add.w r0, r5, #80 ; 0x50
- 800cb7e: 9400 str r4, [sp, #0]
- 800cb80: f44f 71ec mov.w r1, #472 ; 0x1d8
- 800cb84: 4b09 ldr r3, [pc, #36] ; (800cbac )
- 800cb86: f000 fa4b bl 800d020
- * @xclass
- */
-static inline void chRegSetThreadNameX(thread_t *tp, const char *name) {
-
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = name;
- 800cb8a: 4b09 ldr r3, [pc, #36] ; (800cbb0 )
- 800cb8c: 6183 str r3, [r0, #24]
- (tfunc_t)_idle_thread,
- NULL);
- chRegSetThreadNameX(tp, "idle");
- }
-#endif
-}
- 800cb8e: b003 add sp, #12
- 800cb90: bdf0 pop {r4, r5, r6, r7, pc}
- 800cb92: bf00 nop
- 800cb94: e000ed00 .word 0xe000ed00
- 800cb98: 05fa0300 .word 0x05fa0300
- 800cb9c: e0001000 .word 0xe0001000
- 800cba0: e000edf0 .word 0xe000edf0
- 800cba4: 20000c70 .word 0x20000c70
- 800cba8: 08013190 .word 0x08013190
- 800cbac: 0800cb01 .word 0x0800cb01
- 800cbb0: 08013180 .word 0x08013180
- 800cbb4: f3af 8000 nop.w
- 800cbb8: f3af 8000 nop.w
- 800cbbc: f3af 8000 nop.w
-
-0800cbc0 :
- * and, together with the @p CH_CFG_TIME_QUANTUM macro, the round robin
- * interval.
- *
- * @iclass
- */
-void chSysTimerHandlerI(void) {
- 800cbc0: b5f8 push {r3, r4, r5, r6, r7, lr}
-
- chDbgCheckClassI();
-
-#if CH_CFG_TIME_QUANTUM > 0
- /* Running thread has not used up quantum yet? */
- if (currp->p_preempt > (tslices_t)0) {
- 800cbc2: 4d13 ldr r5, [pc, #76] ; (800cc10 )
- 800cbc4: 69aa ldr r2, [r5, #24]
- 800cbc6: 7fd3 ldrb r3, [r2, #31]
- 800cbc8: b10b cbz r3, 800cbce
- /* Decrement remaining quantum.*/
- currp->p_preempt--;
- 800cbca: 3b01 subs r3, #1
- 800cbcc: 77d3 strb r3, [r2, #31]
- }
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- currp->p_time++;
- 800cbce: 6a11 ldr r1, [r2, #32]
-
- chDbgCheckClassI();
-
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime++;
- if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
- 800cbd0: 69eb ldr r3, [r5, #28]
- 800cbd2: 4e10 ldr r6, [pc, #64] ; (800cc14 )
- 800cbd4: 3101 adds r1, #1
- 800cbd6: 6211 str r1, [r2, #32]
-static inline void chVTDoTickI(void) {
-
- chDbgCheckClassI();
-
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime++;
- 800cbd8: 6aaa ldr r2, [r5, #40] ; 0x28
- if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
- 800cbda: 42b3 cmp r3, r6
-static inline void chVTDoTickI(void) {
-
- chDbgCheckClassI();
-
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime++;
- 800cbdc: f102 0201 add.w r2, r2, #1
- 800cbe0: 62aa str r2, [r5, #40] ; 0x28
- if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
- 800cbe2: d013 beq.n 800cc0c
- /* The list is not empty, processing elements on top.*/
- --ch.vtlist.vt_next->vt_delta;
- 800cbe4: 689c ldr r4, [r3, #8]
- 800cbe6: 3c01 subs r4, #1
- 800cbe8: 609c str r4, [r3, #8]
- while (ch.vtlist.vt_next->vt_delta == (systime_t)0) {
- 800cbea: b97c cbnz r4, 800cc0c
-
- \param [in] basePri Base Priority value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
-{
- __ASM volatile ("MSR basepri, %0" : : "r" (value) : "memory");
- 800cbec: 2720 movs r7, #32
- vtfunc_t fn;
-
- vtp = ch.vtlist.vt_next;
- fn = vtp->vt_func;
- vtp->vt_func = NULL;
- vtp->vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;
- 800cbee: 681a ldr r2, [r3, #0]
- while (ch.vtlist.vt_next->vt_delta == (systime_t)0) {
- virtual_timer_t *vtp;
- vtfunc_t fn;
-
- vtp = ch.vtlist.vt_next;
- fn = vtp->vt_func;
- 800cbf0: 68d9 ldr r1, [r3, #12]
- vtp->vt_func = NULL;
- 800cbf2: 60dc str r4, [r3, #12]
- vtp->vt_next->vt_prev = (virtual_timer_t *)&ch.vtlist;
- 800cbf4: 6056 str r6, [r2, #4]
- ch.vtlist.vt_next = vtp->vt_next;
- 800cbf6: 61ea str r2, [r5, #28]
- 800cbf8: f384 8811 msr BASEPRI, r4
- chSysUnlockFromISR();
- fn(vtp->vt_par);
- 800cbfc: 6918 ldr r0, [r3, #16]
- 800cbfe: 4788 blx r1
- 800cc00: f387 8811 msr BASEPRI, r7
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime++;
- if (&ch.vtlist != (virtual_timers_list_t *)ch.vtlist.vt_next) {
- /* The list is not empty, processing elements on top.*/
- --ch.vtlist.vt_next->vt_delta;
- while (ch.vtlist.vt_next->vt_delta == (systime_t)0) {
- 800cc04: 69eb ldr r3, [r5, #28]
- 800cc06: 689a ldr r2, [r3, #8]
- 800cc08: 2a00 cmp r2, #0
- 800cc0a: d0f0 beq.n 800cbee
- 800cc0c: bdf8 pop {r3, r4, r5, r6, r7, pc}
- 800cc0e: bf00 nop
- 800cc10: 20000c40 .word 0x20000c40
- 800cc14: 20000c5c .word 0x20000c5c
- 800cc18: f3af 8000 nop.w
- 800cc1c: f3af 8000 nop.w
-
-0800cc20 :
- *
- * @return The realtime counter value.
- */
-static inline rtcnt_t port_rt_get_counter_value(void) {
-
- return DWT->CYCCNT;
- 800cc20: 4a03 ldr r2, [pc, #12] ; (800cc30 )
- 800cc22: 6851 ldr r1, [r2, #4]
- 800cc24: 6853 ldr r3, [r2, #4]
- *
- * @xclass
- */
-bool chSysIsCounterWithinX(rtcnt_t cnt, rtcnt_t start, rtcnt_t end) {
-
- return (bool)((cnt - start) < (end - start));
- 800cc26: 1a5b subs r3, r3, r1
- */
-void chSysPolledDelayX(rtcnt_t cycles) {
- rtcnt_t start = chSysGetRealtimeCounterX();
- rtcnt_t end = start + cycles;
-
- while (chSysIsCounterWithinX(chSysGetRealtimeCounterX(), start, end)) {
- 800cc28: 4298 cmp r0, r3
- 800cc2a: d8fb bhi.n 800cc24
- }
-}
- 800cc2c: 4770 bx lr
- 800cc2e: bf00 nop
- 800cc30: e0001000 .word 0xe0001000
- 800cc34: f3af 8000 nop.w
- 800cc38: f3af 8000 nop.w
- 800cc3c: f3af 8000 nop.w
-
-0800cc40 <_vt_init>:
- *
- * @notapi
- */
-void _vt_init(void) {
-
- ch.vtlist.vt_next = (virtual_timer_t *)&ch.vtlist;
- 800cc40: 4b05 ldr r3, [pc, #20] ; (800cc58 <_vt_init+0x18>)
- ch.vtlist.vt_prev = (virtual_timer_t *)&ch.vtlist;
- ch.vtlist.vt_delta = (systime_t)-1;
- 800cc42: f04f 30ff mov.w r0, #4294967295 ; 0xffffffff
- *
- * @notapi
- */
-void _vt_init(void) {
-
- ch.vtlist.vt_next = (virtual_timer_t *)&ch.vtlist;
- 800cc46: f103 021c add.w r2, r3, #28
- ch.vtlist.vt_prev = (virtual_timer_t *)&ch.vtlist;
- ch.vtlist.vt_delta = (systime_t)-1;
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime = (systime_t)0;
- 800cc4a: 2100 movs r1, #0
- */
-void _vt_init(void) {
-
- ch.vtlist.vt_next = (virtual_timer_t *)&ch.vtlist;
- ch.vtlist.vt_prev = (virtual_timer_t *)&ch.vtlist;
- ch.vtlist.vt_delta = (systime_t)-1;
- 800cc4c: 6258 str r0, [r3, #36] ; 0x24
-#if CH_CFG_ST_TIMEDELTA == 0
- ch.vtlist.vt_systime = (systime_t)0;
- 800cc4e: 6299 str r1, [r3, #40] ; 0x28
- *
- * @notapi
- */
-void _vt_init(void) {
-
- ch.vtlist.vt_next = (virtual_timer_t *)&ch.vtlist;
- 800cc50: 61da str r2, [r3, #28]
- ch.vtlist.vt_prev = (virtual_timer_t *)&ch.vtlist;
- 800cc52: 621a str r2, [r3, #32]
- 800cc54: 4770 bx lr
- 800cc56: bf00 nop
- 800cc58: 20000c40 .word 0x20000c40
- 800cc5c: f3af 8000 nop.w
-
-0800cc60 :
- * function
- *
- * @iclass
- */
-void chVTDoSetI(virtual_timer_t *vtp, systime_t delay,
- vtfunc_t vtfunc, void *par) {
- 800cc60: b470 push {r4, r5, r6}
- delta = delay;
-#endif /* CH_CFG_ST_TIMEDELTA == 0 */
-
- /* The delta list is scanned in order to find the correct position for
- this timer. */
- p = ch.vtlist.vt_next;
- 800cc62: 4e0d ldr r6, [pc, #52] ; (800cc98 )
- 800cc64: 69f4 ldr r4, [r6, #28]
- while (p->vt_delta < delta) {
- 800cc66: 68a5 ldr r5, [r4, #8]
- systime_t delta;
-
- chDbgCheckClassI();
- chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
-
- vtp->vt_par = par;
- 800cc68: 6103 str r3, [r0, #16]
-#endif /* CH_CFG_ST_TIMEDELTA == 0 */
-
- /* The delta list is scanned in order to find the correct position for
- this timer. */
- p = ch.vtlist.vt_next;
- while (p->vt_delta < delta) {
- 800cc6a: 42a9 cmp r1, r5
-
- chDbgCheckClassI();
- chDbgCheck((vtp != NULL) && (vtfunc != NULL) && (delay != TIME_IMMEDIATE));
-
- vtp->vt_par = par;
- vtp->vt_func = vtfunc;
- 800cc6c: 60c2 str r2, [r0, #12]
-#endif /* CH_CFG_ST_TIMEDELTA == 0 */
-
- /* The delta list is scanned in order to find the correct position for
- this timer. */
- p = ch.vtlist.vt_next;
- while (p->vt_delta < delta) {
- 800cc6e: d904 bls.n 800cc7a
- delta -= p->vt_delta;
- p = p->vt_next;
- 800cc70: 6824 ldr r4, [r4, #0]
-
- /* The delta list is scanned in order to find the correct position for
- this timer. */
- p = ch.vtlist.vt_next;
- while (p->vt_delta < delta) {
- delta -= p->vt_delta;
- 800cc72: 1b49 subs r1, r1, r5
-#endif /* CH_CFG_ST_TIMEDELTA == 0 */
-
- /* The delta list is scanned in order to find the correct position for
- this timer. */
- p = ch.vtlist.vt_next;
- while (p->vt_delta < delta) {
- 800cc74: 68a5 ldr r5, [r4, #8]
- 800cc76: 428d cmp r5, r1
- 800cc78: d3fa bcc.n 800cc70
- p = p->vt_next;
- }
-
- /* The timer is inserted in the delta list.*/
- vtp->vt_next = p;
- vtp->vt_prev = vtp->vt_next->vt_prev;
- 800cc7a: 6863 ldr r3, [r4, #4]
- 800cc7c: 6043 str r3, [r0, #4]
- delta -= p->vt_delta;
- p = p->vt_next;
- }
-
- /* The timer is inserted in the delta list.*/
- vtp->vt_next = p;
- 800cc7e: 6004 str r4, [r0, #0]
- vtp->vt_prev = vtp->vt_next->vt_prev;
- vtp->vt_prev->vt_next = vtp;
- 800cc80: 6018 str r0, [r3, #0]
- p->vt_prev = vtp;
- 800cc82: 6060 str r0, [r4, #4]
- vtp->vt_delta = delta
- 800cc84: 6081 str r1, [r0, #8]
-
- /* Special case when the timer is in last position in the list, the
- value in the header must be restored.*/;
- p->vt_delta -= delta;
- 800cc86: 68a3 ldr r3, [r4, #8]
- ch.vtlist.vt_delta = (systime_t)-1;
- 800cc88: f04f 32ff mov.w r2, #4294967295 ; 0xffffffff
- p->vt_prev = vtp;
- vtp->vt_delta = delta
-
- /* Special case when the timer is in last position in the list, the
- value in the header must be restored.*/;
- p->vt_delta -= delta;
- 800cc8c: 1a59 subs r1, r3, r1
- 800cc8e: 60a1 str r1, [r4, #8]
- ch.vtlist.vt_delta = (systime_t)-1;
- 800cc90: 6272 str r2, [r6, #36] ; 0x24
-}
- 800cc92: bc70 pop {r4, r5, r6}
- 800cc94: 4770 bx lr
- 800cc96: bf00 nop
- 800cc98: 20000c40 .word 0x20000c40
- 800cc9c: f3af 8000 nop.w
-
-0800cca0 :
- chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");
-
-#if CH_CFG_ST_TIMEDELTA == 0
-
- /* The delta of the timer is added to the next timer.*/
- vtp->vt_next->vt_delta += vtp->vt_delta;
- 800cca0: 6803 ldr r3, [r0, #0]
- 800cca2: 6882 ldr r2, [r0, #8]
-
- /* Removing the element from the delta list.*/
- vtp->vt_prev->vt_next = vtp->vt_next;
- 800cca4: 6841 ldr r1, [r0, #4]
- *
- * @param[in] vtp the @p virtual_timer_t structure pointer
- *
- * @iclass
- */
-void chVTDoResetI(virtual_timer_t *vtp) {
- 800cca6: b430 push {r4, r5}
- chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");
-
-#if CH_CFG_ST_TIMEDELTA == 0
-
- /* The delta of the timer is added to the next timer.*/
- vtp->vt_next->vt_delta += vtp->vt_delta;
- 800cca8: 689d ldr r5, [r3, #8]
- vtp->vt_next->vt_prev = vtp->vt_prev;
- vtp->vt_func = NULL;
-
- /* The above code changes the value in the header when the removed element
- is the last of the list, restoring it.*/
- ch.vtlist.vt_delta = (systime_t)-1;
- 800ccaa: 4c06 ldr r4, [pc, #24] ; (800ccc4 )
- chDbgAssert(vtp->vt_func != NULL, "timer not set or already triggered");
-
-#if CH_CFG_ST_TIMEDELTA == 0
-
- /* The delta of the timer is added to the next timer.*/
- vtp->vt_next->vt_delta += vtp->vt_delta;
- 800ccac: 442a add r2, r5
- 800ccae: 609a str r2, [r3, #8]
-
- /* Removing the element from the delta list.*/
- vtp->vt_prev->vt_next = vtp->vt_next;
- 800ccb0: 600b str r3, [r1, #0]
- vtp->vt_next->vt_prev = vtp->vt_prev;
- 800ccb2: 6805 ldr r5, [r0, #0]
- vtp->vt_func = NULL;
- 800ccb4: 2200 movs r2, #0
-
- /* The above code changes the value in the header when the removed element
- is the last of the list, restoring it.*/
- ch.vtlist.vt_delta = (systime_t)-1;
- 800ccb6: f04f 33ff mov.w r3, #4294967295 ; 0xffffffff
- /* The delta of the timer is added to the next timer.*/
- vtp->vt_next->vt_delta += vtp->vt_delta;
-
- /* Removing the element from the delta list.*/
- vtp->vt_prev->vt_next = vtp->vt_next;
- vtp->vt_next->vt_prev = vtp->vt_prev;
- 800ccba: 6069 str r1, [r5, #4]
- vtp->vt_func = NULL;
- 800ccbc: 60c2 str r2, [r0, #12]
-
- /* The above code changes the value in the header when the removed element
- is the last of the list, restoring it.*/
- ch.vtlist.vt_delta = (systime_t)-1;
- 800ccbe: 6263 str r3, [r4, #36] ; 0x24
- delta = (systime_t)CH_CFG_ST_TIMEDELTA;
- }
-
- port_timer_set_alarm(ch.vtlist.vt_lasttime + nowdelta + delta);
-#endif /* CH_CFG_ST_TIMEDELTA > 0 */
-}
- 800ccc0: bc30 pop {r4, r5}
- 800ccc2: 4770 bx lr
- 800ccc4: 20000c40 .word 0x20000c40
- 800ccc8: f3af 8000 nop.w
- 800cccc: f3af 8000 nop.w
-
-0800ccd0 :
-}
-
-/*
- * Timeout wakeup callback.
- */
-static void wakeup(void *p) {
- 800ccd0: b410 push {r4}
- 800ccd2: 2320 movs r3, #32
- 800ccd4: f383 8811 msr BASEPRI, r3
- thread_t *tp = (thread_t *)p;
-
- chSysLockFromISR();
- switch (tp->p_state) {
- 800ccd8: 7f03 ldrb r3, [r0, #28]
- 800ccda: 2b07 cmp r3, #7
- 800ccdc: d80e bhi.n 800ccfc
- 800ccde: e8df f003 tbb [pc, r3]
- 800cce2: 0d27 .short 0x0d27
- 800cce4: 0408230d .word 0x0408230d
- 800cce8: 080d .short 0x080d
- case CH_STATE_SUSPENDED:
- *tp->p_u.wttrp = NULL;
- break;
-#if CH_CFG_USE_SEMAPHORES == TRUE
- case CH_STATE_WTSEM:
- chSemFastSignalI(tp->p_u.wtsemp);
- 800ccea: 6a42 ldr r2, [r0, #36] ; 0x24
- */
-static inline void chSemFastSignalI(semaphore_t *sp) {
-
- chDbgCheckClassI();
-
- sp->s_cnt++;
- 800ccec: 6893 ldr r3, [r2, #8]
- 800ccee: 3301 adds r3, #1
- 800ccf0: 6093 str r3, [r2, #8]
- return tp;
-}
-
-static inline thread_t *queue_dequeue(thread_t *tp) {
-
- tp->p_prev->p_next = tp->p_next;
- 800ccf2: e890 000c ldmia.w r0, {r2, r3}
- 800ccf6: 601a str r2, [r3, #0]
- tp->p_next->p_prev = tp->p_prev;
- 800ccf8: 6802 ldr r2, [r0, #0]
- 800ccfa: 6053 str r3, [r2, #4]
- break;
- default:
- /* Any other state, nothing to do.*/
- break;
- }
- tp->p_u.rdymsg = MSG_TIMEOUT;
- 800ccfc: f04f 34ff mov.w r4, #4294967295 ; 0xffffffff
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800cd00: 2200 movs r2, #0
- 800cd02: 6881 ldr r1, [r0, #8]
- cp = (thread_t *)&ch.rlist.r_queue;
- 800cd04: 4b0d ldr r3, [pc, #52] ; (800cd3c )
- break;
- default:
- /* Any other state, nothing to do.*/
- break;
- }
- tp->p_u.rdymsg = MSG_TIMEOUT;
- 800cd06: 6244 str r4, [r0, #36] ; 0x24
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800cd08: 7702 strb r2, [r0, #28]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- 800cd0a: 681b ldr r3, [r3, #0]
- } while (cp->p_prio >= tp->p_prio);
- 800cd0c: 689a ldr r2, [r3, #8]
- 800cd0e: 428a cmp r2, r1
- 800cd10: d2fb bcs.n 800cd0a
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- 800cd12: 685a ldr r2, [r3, #4]
- 800cd14: 6042 str r2, [r0, #4]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- 800cd16: 6003 str r3, [r0, #0]
- 800cd18: 2100 movs r1, #0
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- 800cd1a: 6010 str r0, [r2, #0]
- cp->p_prev = tp;
- 800cd1c: 6058 str r0, [r3, #4]
- 800cd1e: f381 8811 msr BASEPRI, r1
- break;
- }
- tp->p_u.rdymsg = MSG_TIMEOUT;
- (void) chSchReadyI(tp);
- chSysUnlockFromISR();
-}
- 800cd22: f85d 4b04 ldr.w r4, [sp], #4
- 800cd26: 4770 bx lr
- /* Handling the special case where the thread has been made ready by
- another thread with higher priority.*/
- chSysUnlockFromISR();
- return;
- case CH_STATE_SUSPENDED:
- *tp->p_u.wttrp = NULL;
- 800cd28: 6a43 ldr r3, [r0, #36] ; 0x24
- 800cd2a: 2200 movs r2, #0
- 800cd2c: 601a str r2, [r3, #0]
- break;
- 800cd2e: e7e5 b.n 800ccfc
- 800cd30: 2300 movs r3, #0
- 800cd32: f383 8811 msr BASEPRI, r3
- break;
- }
- tp->p_u.rdymsg = MSG_TIMEOUT;
- (void) chSchReadyI(tp);
- chSysUnlockFromISR();
-}
- 800cd36: f85d 4b04 ldr.w r4, [sp], #4
- 800cd3a: 4770 bx lr
- 800cd3c: 20000c40 .word 0x20000c40
-
-0800cd40 <_scheduler_init>:
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800cd40: 4b03 ldr r3, [pc, #12] ; (800cd50 <_scheduler_init+0x10>)
- * @notapi
- */
-void _scheduler_init(void) {
-
- queue_init(&ch.rlist.r_queue);
- ch.rlist.r_prio = NOPRIO;
- 800cd42: 2200 movs r2, #0
- 800cd44: 601b str r3, [r3, #0]
- tqp->p_prev = (thread_t *)tqp;
- 800cd46: 605b str r3, [r3, #4]
-#if CH_CFG_USE_REGISTRY == TRUE
- ch.rlist.r_newer = (thread_t *)&ch.rlist;
- 800cd48: 611b str r3, [r3, #16]
- ch.rlist.r_older = (thread_t *)&ch.rlist;
- 800cd4a: 615b str r3, [r3, #20]
- * @notapi
- */
-void _scheduler_init(void) {
-
- queue_init(&ch.rlist.r_queue);
- ch.rlist.r_prio = NOPRIO;
- 800cd4c: 609a str r2, [r3, #8]
- 800cd4e: 4770 bx lr
- 800cd50: 20000c40 .word 0x20000c40
- 800cd54: f3af 8000 nop.w
- 800cd58: f3af 8000 nop.w
- 800cd5c: f3af 8000 nop.w
-
-0800cd60 :
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800cd60: 2200 movs r2, #0
- 800cd62: 6881 ldr r1, [r0, #8]
- cp = (thread_t *)&ch.rlist.r_queue;
- 800cd64: 4b08 ldr r3, [pc, #32] ; (800cd88 )
- * @param[in] tp the thread to be made ready
- * @return The thread pointer.
- *
- * @iclass
- */
-thread_t *chSchReadyI(thread_t *tp) {
- 800cd66: b410 push {r4}
- 800cd68: 4604 mov r4, r0
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800cd6a: 7702 strb r2, [r0, #28]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- 800cd6c: 681b ldr r3, [r3, #0]
- } while (cp->p_prio >= tp->p_prio);
- 800cd6e: 689a ldr r2, [r3, #8]
- 800cd70: 428a cmp r2, r1
- 800cd72: d2fb bcs.n 800cd6c
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- 800cd74: 685a ldr r2, [r3, #4]
- 800cd76: 6062 str r2, [r4, #4]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- 800cd78: 6023 str r3, [r4, #0]
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- cp->p_prev = tp;
-
- return tp;
-}
- 800cd7a: 4620 mov r0, r4
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- 800cd7c: 6014 str r4, [r2, #0]
- cp->p_prev = tp;
- 800cd7e: 605c str r4, [r3, #4]
-
- return tp;
-}
- 800cd80: f85d 4b04 ldr.w r4, [sp], #4
- 800cd84: 4770 bx lr
- 800cd86: bf00 nop
- 800cd88: 20000c40 .word 0x20000c40
- 800cd8c: f3af 8000 nop.w
-
-0800cd90 :
-void chSchGoSleepS(tstate_t newstate) {
- thread_t *otp;
-
- chDbgCheckClassS();
-
- otp = currp;
- 800cd90: 4b08 ldr r3, [pc, #32] ; (800cdb4 )
- *
- * @param[in] newstate the new thread state
- *
- * @sclass
- */
-void chSchGoSleepS(tstate_t newstate) {
- 800cd92: b430 push {r4, r5}
- tp->p_prev->p_next = tp;
- tqp->p_prev = tp;
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
- 800cd94: 681a ldr r2, [r3, #0]
- thread_t *otp;
-
- chDbgCheckClassS();
-
- otp = currp;
- 800cd96: 6999 ldr r1, [r3, #24]
-
- tqp->p_next = tp->p_next;
- 800cd98: 6814 ldr r4, [r2, #0]
- otp->p_state = newstate;
- 800cd9a: 7708 strb r0, [r1, #28]
-#if defined(CH_CFG_IDLE_ENTER_HOOK)
- if (currp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_ENTER_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800cd9c: 2501 movs r5, #1
- otp = currp;
- otp->p_state = newstate;
-#if CH_CFG_TIME_QUANTUM > 0
- /* The thread is renouncing its remaining time slices so it will have a new
- time quantum when it will wakeup.*/
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800cd9e: 2004 movs r0, #4
- 800cda0: 77c8 strb r0, [r1, #31]
- tqp->p_next->p_prev = (thread_t *)tqp;
- 800cda2: 6063 str r3, [r4, #4]
-#if defined(CH_CFG_IDLE_ENTER_HOOK)
- if (currp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_ENTER_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800cda4: 7715 strb r5, [r2, #28]
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
-
- tqp->p_next = tp->p_next;
- 800cda6: 601c str r4, [r3, #0]
- chSysSwitch(currp, otp);
- 800cda8: 4610 mov r0, r2
-}
- 800cdaa: bc30 pop {r4, r5}
-#if CH_CFG_TIME_QUANTUM > 0
- /* The thread is renouncing its remaining time slices so it will have a new
- time quantum when it will wakeup.*/
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
- setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
- 800cdac: 619a str r2, [r3, #24]
- if (currp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_ENTER_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- chSysSwitch(currp, otp);
- 800cdae: f7ff b9af b.w 800c110 <_port_switch>
- 800cdb2: bf00 nop
- 800cdb4: 20000c40 .word 0x20000c40
- 800cdb8: f3af 8000 nop.w
- 800cdbc: f3af 8000 nop.w
-
-0800cdc0 :
- * @return The wakeup message.
- * @retval MSG_TIMEOUT if a timeout occurs.
- *
- * @sclass
- */
-msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
- 800cdc0: b530 push {r4, r5, lr}
-
- chDbgCheckClassS();
-
- if (TIME_INFINITE != time) {
- 800cdc2: 1c4b adds r3, r1, #1
- * @return The wakeup message.
- * @retval MSG_TIMEOUT if a timeout occurs.
- *
- * @sclass
- */
-msg_t chSchGoSleepTimeoutS(tstate_t newstate, systime_t time) {
- 800cdc4: b087 sub sp, #28
-
- chDbgCheckClassS();
-
- if (TIME_INFINITE != time) {
- 800cdc6: d012 beq.n 800cdee
- virtual_timer_t vt;
-
- chVTDoSetI(&vt, time, wakeup, currp);
- 800cdc8: 4c0c ldr r4, [pc, #48] ; (800cdfc )
- 800cdca: 4a0d ldr r2, [pc, #52] ; (800ce00 )
- 800cdcc: 69a3 ldr r3, [r4, #24]
- 800cdce: 4605 mov r5, r0
- 800cdd0: a801 add r0, sp, #4
- 800cdd2: f7ff ff45 bl 800cc60
- chSchGoSleepS(newstate);
- 800cdd6: 4628 mov r0, r5
- 800cdd8: f7ff ffda bl 800cd90
- if (chVTIsArmedI(&vt)) {
- 800cddc: 9b04 ldr r3, [sp, #16]
- 800cdde: b113 cbz r3, 800cde6
- chVTDoResetI(&vt);
- 800cde0: a801 add r0, sp, #4
- 800cde2: f7ff ff5d bl 800cca0
- }
- else {
- chSchGoSleepS(newstate);
- }
-
- return currp->p_u.rdymsg;
- 800cde6: 69a3 ldr r3, [r4, #24]
-}
- 800cde8: 6a58 ldr r0, [r3, #36] ; 0x24
- 800cdea: b007 add sp, #28
- 800cdec: bd30 pop {r4, r5, pc}
- 800cdee: 4c03 ldr r4, [pc, #12] ; (800cdfc )
- if (chVTIsArmedI(&vt)) {
- chVTDoResetI(&vt);
- }
- }
- else {
- chSchGoSleepS(newstate);
- 800cdf0: f7ff ffce bl 800cd90
- }
-
- return currp->p_u.rdymsg;
- 800cdf4: 69a3 ldr r3, [r4, #24]
-}
- 800cdf6: 6a58 ldr r0, [r3, #36] ; 0x24
- 800cdf8: b007 add sp, #28
- 800cdfa: bd30 pop {r4, r5, pc}
- 800cdfc: 20000c40 .word 0x20000c40
- 800ce00: 0800ccd1 .word 0x0800ccd1
- 800ce04: f3af 8000 nop.w
- 800ce08: f3af 8000 nop.w
- 800ce0c: f3af 8000 nop.w
-
-0800ce10 :
-
- /* If the waken thread has a not-greater priority than the current
- one then it is just inserted in the ready list else it made
- running immediately and the invoking thread goes in the ready
- list instead.*/
- if (ntp->p_prio <= currp->p_prio) {
- 800ce10: 4b14 ldr r3, [pc, #80] ; (800ce64 )
- * @param[in] ntp the thread to be made ready
- * @param[in] msg the wakeup message
- *
- * @sclass
- */
-void chSchWakeupS(thread_t *ntp, msg_t msg) {
- 800ce12: b470 push {r4, r5, r6}
-
- /* If the waken thread has a not-greater priority than the current
- one then it is just inserted in the ready list else it made
- running immediately and the invoking thread goes in the ready
- list instead.*/
- if (ntp->p_prio <= currp->p_prio) {
- 800ce14: 699e ldr r6, [r3, #24]
- 800ce16: 6884 ldr r4, [r0, #8]
- * @param[in] ntp the thread to be made ready
- * @param[in] msg the wakeup message
- *
- * @sclass
- */
-void chSchWakeupS(thread_t *ntp, msg_t msg) {
- 800ce18: 4605 mov r5, r0
-
- /* If the waken thread has a not-greater priority than the current
- one then it is just inserted in the ready list else it made
- running immediately and the invoking thread goes in the ready
- list instead.*/
- if (ntp->p_prio <= currp->p_prio) {
- 800ce1a: 68b0 ldr r0, [r6, #8]
-
- chDbgCheckClassS();
-
- /* Storing the message to be retrieved by the target thread when it will
- restart execution.*/
- ntp->p_u.rdymsg = msg;
- 800ce1c: 6269 str r1, [r5, #36] ; 0x24
-
- /* If the waken thread has a not-greater priority than the current
- one then it is just inserted in the ready list else it made
- running immediately and the invoking thread goes in the ready
- list instead.*/
- if (ntp->p_prio <= currp->p_prio) {
- 800ce1e: 4284 cmp r4, r0
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800ce20: f04f 0200 mov.w r2, #0
-
- /* If the waken thread has a not-greater priority than the current
- one then it is just inserted in the ready list else it made
- running immediately and the invoking thread goes in the ready
- list instead.*/
- if (ntp->p_prio <= currp->p_prio) {
- 800ce24: d80b bhi.n 800ce3e
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800ce26: 772a strb r2, [r5, #28]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- 800ce28: 681b ldr r3, [r3, #0]
- } while (cp->p_prio >= tp->p_prio);
- 800ce2a: 689a ldr r2, [r3, #8]
- 800ce2c: 4294 cmp r4, r2
- 800ce2e: d9fb bls.n 800ce28
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- 800ce30: 685a ldr r2, [r3, #4]
- 800ce32: 606a str r2, [r5, #4]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- 800ce34: 602b str r3, [r5, #0]
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- 800ce36: 6015 str r5, [r2, #0]
- cp->p_prev = tp;
- 800ce38: 605d str r5, [r3, #4]
- }
-#endif
- ntp->p_state = CH_STATE_CURRENT;
- chSysSwitch(ntp, otp);
- }
-}
- 800ce3a: bc70 pop {r4, r5, r6}
- 800ce3c: 4770 bx lr
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800ce3e: 7732 strb r2, [r6, #28]
- cp = (thread_t *)&ch.rlist.r_queue;
- 800ce40: 461a mov r2, r3
- do {
- cp = cp->p_next;
- 800ce42: 6812 ldr r2, [r2, #0]
- } while (cp->p_prio >= tp->p_prio);
- 800ce44: 6891 ldr r1, [r2, #8]
- 800ce46: 4288 cmp r0, r1
- 800ce48: d9fb bls.n 800ce42
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- 800ce4a: 6850 ldr r0, [r2, #4]
- 800ce4c: 6070 str r0, [r6, #4]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- ntp->p_state = CH_STATE_CURRENT;
- 800ce4e: 2401 movs r4, #1
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- 800ce50: 6032 str r2, [r6, #0]
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- 800ce52: 6006 str r6, [r0, #0]
- cp->p_prev = tp;
- 800ce54: 6056 str r6, [r2, #4]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- ntp->p_state = CH_STATE_CURRENT;
- 800ce56: 772c strb r4, [r5, #28]
- chSysSwitch(ntp, otp);
- 800ce58: 4631 mov r1, r6
- 800ce5a: 4628 mov r0, r5
- if (ntp->p_prio <= currp->p_prio) {
- (void) chSchReadyI(ntp);
- }
- else {
- thread_t *otp = chSchReadyI(currp);
- setcurrp(ntp);
- 800ce5c: 619d str r5, [r3, #24]
- }
-#endif
- ntp->p_state = CH_STATE_CURRENT;
- chSysSwitch(ntp, otp);
- }
-}
- 800ce5e: bc70 pop {r4, r5, r6}
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- ntp->p_state = CH_STATE_CURRENT;
- chSysSwitch(ntp, otp);
- 800ce60: f7ff b956 b.w 800c110 <_port_switch>
- 800ce64: 20000c40 .word 0x20000c40
- 800ce68: f3af 8000 nop.w
- 800ce6c: f3af 8000 nop.w
-
-0800ce70 :
- * @retval false if preemption is not required.
- *
- * @special
- */
-bool chSchIsPreemptionRequired(void) {
- tprio_t p1 = firstprio(&ch.rlist.r_queue);
- 800ce70: 4b08 ldr r3, [pc, #32] ; (800ce94 )
- tprio_t p2 = currp->p_prio;
- 800ce72: 699a ldr r2, [r3, #24]
- * @retval false if preemption is not required.
- *
- * @special
- */
-bool chSchIsPreemptionRequired(void) {
- tprio_t p1 = firstprio(&ch.rlist.r_queue);
- 800ce74: 681b ldr r3, [r3, #0]
-#if CH_CFG_TIME_QUANTUM > 0
- /* If the running thread has not reached its time quantum, reschedule only
- if the first thread on the ready queue has a higher priority.
- Otherwise, if the running thread has used up its time quantum, reschedule
- if the first thread on the ready queue has equal or higher priority.*/
- return (currp->p_preempt > (tslices_t)0) ? (p1 > p2) : (p1 >= p2);
- 800ce76: 7fd1 ldrb r1, [r2, #31]
- * @retval false if preemption is not required.
- *
- * @special
- */
-bool chSchIsPreemptionRequired(void) {
- tprio_t p1 = firstprio(&ch.rlist.r_queue);
- 800ce78: 689b ldr r3, [r3, #8]
- tprio_t p2 = currp->p_prio;
- 800ce7a: 6890 ldr r0, [r2, #8]
-#if CH_CFG_TIME_QUANTUM > 0
- /* If the running thread has not reached its time quantum, reschedule only
- if the first thread on the ready queue has a higher priority.
- Otherwise, if the running thread has used up its time quantum, reschedule
- if the first thread on the ready queue has equal or higher priority.*/
- return (currp->p_preempt > (tslices_t)0) ? (p1 > p2) : (p1 >= p2);
- 800ce7c: b921 cbnz r1, 800ce88
- 800ce7e: 4283 cmp r3, r0
- 800ce80: bf34 ite cc
- 800ce82: 2000 movcc r0, #0
- 800ce84: 2001 movcs r0, #1
-#else
- /* If the round robin preemption feature is not enabled then performs a
- simpler comparison.*/
- return p1 > p2;
-#endif
-}
- 800ce86: 4770 bx lr
-#if CH_CFG_TIME_QUANTUM > 0
- /* If the running thread has not reached its time quantum, reschedule only
- if the first thread on the ready queue has a higher priority.
- Otherwise, if the running thread has used up its time quantum, reschedule
- if the first thread on the ready queue has equal or higher priority.*/
- return (currp->p_preempt > (tslices_t)0) ? (p1 > p2) : (p1 >= p2);
- 800ce88: 4283 cmp r3, r0
- 800ce8a: bf94 ite ls
- 800ce8c: 2000 movls r0, #0
- 800ce8e: 2001 movhi r0, #1
- 800ce90: 4770 bx lr
- 800ce92: bf00 nop
- 800ce94: 20000c40 .word 0x20000c40
- 800ce98: f3af 8000 nop.w
- 800ce9c: f3af 8000 nop.w
-
-0800cea0 :
- * @special
- */
-void chSchDoRescheduleBehind(void) {
- thread_t *otp;
-
- otp = currp;
- 800cea0: 4a0e ldr r2, [pc, #56] ; (800cedc )
- tp->p_prev->p_next = tp;
- tqp->p_prev = tp;
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
- 800cea2: 6810 ldr r0, [r2, #0]
- * @note Not a user function, it is meant to be invoked by the scheduler
- * itself or from within the port layer.
- *
- * @special
- */
-void chSchDoRescheduleBehind(void) {
- 800cea4: b4f0 push {r4, r5, r6, r7}
-
- tqp->p_next = tp->p_next;
- 800cea6: 6803 ldr r3, [r0, #0]
- thread_t *otp;
-
- otp = currp;
- 800cea8: 6994 ldr r4, [r2, #24]
- 800ceaa: 6013 str r3, [r2, #0]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800ceac: 2701 movs r7, #1
-#if CH_CFG_TIME_QUANTUM > 0
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800ceae: 2604 movs r6, #4
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800ceb0: 2500 movs r5, #0
- 800ceb2: 68a1 ldr r1, [r4, #8]
- tqp->p_next->p_prev = (thread_t *)tqp;
- 800ceb4: 605a str r2, [r3, #4]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800ceb6: 7707 strb r7, [r0, #28]
-void chSchDoRescheduleBehind(void) {
- thread_t *otp;
-
- otp = currp;
- /* Picks the first thread from the ready queue and makes it current.*/
- setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
- 800ceb8: 6190 str r0, [r2, #24]
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
-#if CH_CFG_TIME_QUANTUM > 0
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800ceba: 77e6 strb r6, [r4, #31]
- chDbgCheck(tp != NULL);
- chDbgAssert((tp->p_state != CH_STATE_READY) &&
- (tp->p_state != CH_STATE_FINAL),
- "invalid state");
-
- tp->p_state = CH_STATE_READY;
- 800cebc: 7725 strb r5, [r4, #28]
- 800cebe: e000 b.n 800cec2
- 800cec0: 681b ldr r3, [r3, #0]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- 800cec2: 689a ldr r2, [r3, #8]
- 800cec4: 428a cmp r2, r1
- 800cec6: d2fb bcs.n 800cec0
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- 800cec8: 685a ldr r2, [r3, #4]
- 800ceca: 6062 str r2, [r4, #4]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- 800cecc: 6023 str r3, [r4, #0]
- currp->p_state = CH_STATE_CURRENT;
-#if CH_CFG_TIME_QUANTUM > 0
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
- (void) chSchReadyI(otp);
- chSysSwitch(currp, otp);
- 800cece: 4621 mov r1, r4
- cp = cp->p_next;
- } while (cp->p_prio >= tp->p_prio);
- /* Insertion on p_prev.*/
- tp->p_next = cp;
- tp->p_prev = cp->p_prev;
- tp->p_prev->p_next = tp;
- 800ced0: 6014 str r4, [r2, #0]
- cp->p_prev = tp;
- 800ced2: 605c str r4, [r3, #4]
-#if CH_CFG_TIME_QUANTUM > 0
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
- (void) chSchReadyI(otp);
- chSysSwitch(currp, otp);
-}
- 800ced4: bcf0 pop {r4, r5, r6, r7}
- currp->p_state = CH_STATE_CURRENT;
-#if CH_CFG_TIME_QUANTUM > 0
- otp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
- (void) chSchReadyI(otp);
- chSysSwitch(currp, otp);
- 800ced6: f7ff b91b b.w 800c110 <_port_switch>
- 800ceda: bf00 nop
- 800cedc: 20000c40 .word 0x20000c40
-
-0800cee0 :
- * @special
- */
-void chSchDoRescheduleAhead(void) {
- thread_t *otp, *cp;
-
- otp = currp;
- 800cee0: 4a0d ldr r2, [pc, #52] ; (800cf18 )
- tp->p_prev->p_next = tp;
- tqp->p_prev = tp;
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
- 800cee2: 6810 ldr r0, [r2, #0]
- * @note Not a user function, it is meant to be invoked by the scheduler
- * itself or from within the port layer.
- *
- * @special
- */
-void chSchDoRescheduleAhead(void) {
- 800cee4: b470 push {r4, r5, r6}
-
- tqp->p_next = tp->p_next;
- 800cee6: 6803 ldr r3, [r0, #0]
- thread_t *otp, *cp;
-
- otp = currp;
- 800cee8: 6994 ldr r4, [r2, #24]
- 800ceea: 6013 str r3, [r2, #0]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800ceec: 2601 movs r6, #1
-
- otp->p_state = CH_STATE_READY;
- 800ceee: 2500 movs r5, #0
- 800cef0: 68a1 ldr r1, [r4, #8]
- tqp->p_next->p_prev = (thread_t *)tqp;
- 800cef2: 605a str r2, [r3, #4]
-#if defined(CH_CFG_IDLE_LEAVE_HOOK)
- if (otp->p_prio == IDLEPRIO) {
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
- 800cef4: 7706 strb r6, [r0, #28]
-void chSchDoRescheduleAhead(void) {
- thread_t *otp, *cp;
-
- otp = currp;
- /* Picks the first thread from the ready queue and makes it current.*/
- setcurrp(queue_fifo_remove(&ch.rlist.r_queue));
- 800cef6: 6190 str r0, [r2, #24]
- CH_CFG_IDLE_LEAVE_HOOK();
- }
-#endif
- currp->p_state = CH_STATE_CURRENT;
-
- otp->p_state = CH_STATE_READY;
- 800cef8: 7725 strb r5, [r4, #28]
- 800cefa: e000 b.n 800cefe
- 800cefc: 681b ldr r3, [r3, #0]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio > otp->p_prio);
- 800cefe: 689a ldr r2, [r3, #8]
- 800cf00: 428a cmp r2, r1
- 800cf02: d8fb bhi.n 800cefc
- /* Insertion on p_prev.*/
- otp->p_next = cp;
- otp->p_prev = cp->p_prev;
- 800cf04: 685a ldr r2, [r3, #4]
- 800cf06: 6062 str r2, [r4, #4]
- cp = (thread_t *)&ch.rlist.r_queue;
- do {
- cp = cp->p_next;
- } while (cp->p_prio > otp->p_prio);
- /* Insertion on p_prev.*/
- otp->p_next = cp;
- 800cf08: 6023 str r3, [r4, #0]
- otp->p_prev = cp->p_prev;
- otp->p_prev->p_next = otp;
- cp->p_prev = otp;
-
- chSysSwitch(currp, otp);
- 800cf0a: 4621 mov r1, r4
- cp = cp->p_next;
- } while (cp->p_prio > otp->p_prio);
- /* Insertion on p_prev.*/
- otp->p_next = cp;
- otp->p_prev = cp->p_prev;
- otp->p_prev->p_next = otp;
- 800cf0c: 6014 str r4, [r2, #0]
- cp->p_prev = otp;
- 800cf0e: 605c str r4, [r3, #4]
-
- chSysSwitch(currp, otp);
-}
- 800cf10: bc70 pop {r4, r5, r6}
- otp->p_next = cp;
- otp->p_prev = cp->p_prev;
- otp->p_prev->p_next = otp;
- cp->p_prev = otp;
-
- chSysSwitch(currp, otp);
- 800cf12: f7ff b8fd b.w 800c110 <_port_switch>
- 800cf16: bf00 nop
- 800cf18: 20000c40 .word 0x20000c40
- 800cf1c: f3af 8000 nop.w
-
-0800cf20 :
- */
-static inline bool chSchIsRescRequiredI(void) {
-
- chDbgCheckClassI();
-
- return firstprio(&ch.rlist.r_queue) > currp->p_prio;
- 800cf20: 4b04 ldr r3, [pc, #16] ; (800cf34 )
- 800cf22: 681a ldr r2, [r3, #0]
- 800cf24: 699b ldr r3, [r3, #24]
- */
-void chSchRescheduleS(void) {
-
- chDbgCheckClassS();
-
- if (chSchIsRescRequiredI()) {
- 800cf26: 6892 ldr r2, [r2, #8]
- 800cf28: 689b ldr r3, [r3, #8]
- 800cf2a: 429a cmp r2, r3
- 800cf2c: d800 bhi.n 800cf30
- 800cf2e: 4770 bx lr
- chSchDoRescheduleAhead();
- 800cf30: f7ff bfd6 b.w 800cee0
- 800cf34: 20000c40 .word 0x20000c40
- 800cf38: f3af 8000 nop.w
- 800cf3c: f3af 8000 nop.w
-
-0800cf40 :
-void chSchDoReschedule(void) {
-
-#if CH_CFG_TIME_QUANTUM > 0
- /* If CH_CFG_TIME_QUANTUM is enabled then there are two different scenarios
- to handle on preemption: time quantum elapsed or not.*/
- if (currp->p_preempt == (tslices_t)0) {
- 800cf40: 4b03 ldr r3, [pc, #12] ; (800cf50 )
- 800cf42: 699b ldr r3, [r3, #24]
- 800cf44: 7fdb ldrb r3, [r3, #31]
- 800cf46: b10b cbz r3, 800cf4c
- chSchDoRescheduleBehind();
- }
- else {
- /* The thread didn't consume all its time quantum so it is put ahead of
- threads with equal priority and does not acquire a new time quantum.*/
- chSchDoRescheduleAhead();
- 800cf48: f7ff bfca b.w 800cee0
- /* If CH_CFG_TIME_QUANTUM is enabled then there are two different scenarios
- to handle on preemption: time quantum elapsed or not.*/
- if (currp->p_preempt == (tslices_t)0) {
- /* The thread consumed its time quantum so it is enqueued behind threads
- with same priority level, however, it acquires a new time quantum.*/
- chSchDoRescheduleBehind();
- 800cf4c: f7ff bfa8 b.w 800cea0
- 800cf50: 20000c40 .word 0x20000c40
- 800cf54: f3af 8000 nop.w
- 800cf58: f3af 8000 nop.w
- 800cf5c: f3af 8000 nop.w
-
-0800cf60 <_thread_init>:
- * @param[in] prio the priority level for the new thread
- * @return The same thread pointer passed as parameter.
- *
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
- 800cf60: e92d 41f0 stmdb sp!, {r4, r5, r6, r7, r8, lr}
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cf64: 4c11 ldr r4, [pc, #68] ; (800cfac <_thread_init+0x4c>)
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- 800cf66: 6401 str r1, [r0, #64] ; 0x40
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cf68: 6966 ldr r6, [r4, #20]
- 800cf6a: 6146 str r6, [r0, #20]
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800cf6c: 2200 movs r2, #0
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
-#endif
-#if CH_CFG_USE_MESSAGES == TRUE
- queue_init(&tp->p_msgqueue);
- 800cf6e: f100 052c add.w r5, r0, #44 ; 0x2c
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800cf72: f04f 0802 mov.w r8, #2
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800cf76: f04f 0c04 mov.w ip, #4
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800cf7a: f04f 0e01 mov.w lr, #1
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
- 800cf7e: f100 0728 add.w r7, r0, #40 ; 0x28
- *
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- 800cf82: 6081 str r1, [r0, #8]
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cf84: 6104 str r4, [r0, #16]
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800cf86: f880 801c strb.w r8, [r0, #28]
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800cf8a: f880 c01f strb.w ip, [r0, #31]
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800cf8e: f880 e01e strb.w lr, [r0, #30]
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800cf92: 7742 strb r2, [r0, #29]
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- tp->p_mtxlist = NULL;
- 800cf94: 63c2 str r2, [r0, #60] ; 0x3c
-#endif
-#if CH_CFG_USE_EVENTS == TRUE
- tp->p_epending = (eventmask_t)0;
- 800cf96: 6382 str r2, [r0, #56] ; 0x38
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
- 800cf98: 6202 str r2, [r0, #32]
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- 800cf9a: 6182 str r2, [r0, #24]
- REG_INSERT(tp);
- 800cf9c: 6130 str r0, [r6, #16]
- 800cf9e: 6160 str r0, [r4, #20]
- *
- * @notapi
- */
-static inline void list_init(threads_list_t *tlp) {
-
- tlp->p_next = (thread_t *)tlp;
- 800cfa0: 6287 str r7, [r0, #40] ; 0x28
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800cfa2: 62c5 str r5, [r0, #44] ; 0x2c
- tqp->p_prev = (thread_t *)tqp;
- 800cfa4: 6305 str r5, [r0, #48] ; 0x30
-#endif
-#if defined(CH_CFG_THREAD_INIT_HOOK)
- CH_CFG_THREAD_INIT_HOOK(tp);
-#endif
- return tp;
-}
- 800cfa6: e8bd 81f0 ldmia.w sp!, {r4, r5, r6, r7, r8, pc}
- 800cfaa: bf00 nop
- 800cfac: 20000c40 .word 0x20000c40
-
-0800cfb0 :
- * the thread into the working space area.
- *
- * @iclass
- */
-thread_t *chThdCreateI(void *wsp, size_t size,
- tprio_t prio, tfunc_t pf, void *arg) {
- 800cfb0: e92d 4ff0 stmdb sp!, {r4, r5, r6, r7, r8, r9, sl, fp, lr}
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfb4: 3964 subs r1, #100 ; 0x64
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cfb6: 4f18 ldr r7, [pc, #96] ; (800d018 )
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfb8: f8df 9060 ldr.w r9, [pc, #96] ; 800d01c
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cfbc: f8d7 e014 ldr.w lr, [r7, #20]
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfc0: 9e09 ldr r6, [sp, #36] ; 0x24
- 800cfc2: 4401 add r1, r0
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800cfc4: 2500 movs r5, #0
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfc6: 60c1 str r1, [r0, #12]
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800cfc8: f04f 0b02 mov.w fp, #2
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfcc: 640b str r3, [r1, #64] ; 0x40
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800cfce: f04f 0a04 mov.w sl, #4
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
-#endif
-#if CH_CFG_USE_MESSAGES == TRUE
- queue_init(&tp->p_msgqueue);
- 800cfd2: f100 032c add.w r3, r0, #44 ; 0x2c
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800cfd6: f04f 0801 mov.w r8, #1
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
- 800cfda: f100 0c28 add.w ip, r0, #40 ; 0x28
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800cfde: 644e str r6, [r1, #68] ; 0x44
- 800cfe0: f8c1 9060 str.w r9, [r1, #96] ; 0x60
- *
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- 800cfe4: 6082 str r2, [r0, #8]
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800cfe6: 6107 str r7, [r0, #16]
- 800cfe8: f8c0 e014 str.w lr, [r0, #20]
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- 800cfec: 6402 str r2, [r0, #64] ; 0x40
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800cfee: f880 b01c strb.w fp, [r0, #28]
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800cff2: f880 a01f strb.w sl, [r0, #31]
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800cff6: f880 801e strb.w r8, [r0, #30]
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800cffa: 7745 strb r5, [r0, #29]
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- tp->p_mtxlist = NULL;
- 800cffc: 63c5 str r5, [r0, #60] ; 0x3c
-#endif
-#if CH_CFG_USE_EVENTS == TRUE
- tp->p_epending = (eventmask_t)0;
- 800cffe: 6385 str r5, [r0, #56] ; 0x38
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
- 800d000: 6205 str r5, [r0, #32]
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- 800d002: 6185 str r5, [r0, #24]
- REG_INSERT(tp);
- 800d004: f8ce 0010 str.w r0, [lr, #16]
- *
- * @notapi
- */
-static inline void list_init(threads_list_t *tlp) {
-
- tlp->p_next = (thread_t *)tlp;
- 800d008: f8c0 c028 str.w ip, [r0, #40] ; 0x28
- 800d00c: 6178 str r0, [r7, #20]
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d00e: 62c3 str r3, [r0, #44] ; 0x2c
- tqp->p_prev = (thread_t *)tqp;
- 800d010: 6303 str r3, [r0, #48] ; 0x30
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
-
- return _thread_init(tp, prio);
-}
- 800d012: e8bd 8ff0 ldmia.w sp!, {r4, r5, r6, r7, r8, r9, sl, fp, pc}
- 800d016: bf00 nop
- 800d018: 20000c40 .word 0x20000c40
- 800d01c: 0800c129 .word 0x0800c129
-
-0800d020 :
- * the thread into the working space area.
- *
- * @api
- */
-thread_t *chThdCreateStatic(void *wsp, size_t size,
- tprio_t prio, tfunc_t pf, void *arg) {
- 800d020: e92d 4ff8 stmdb sp!, {r3, r4, r5, r6, r7, r8, r9, sl, fp, lr}
- 800d024: 4604 mov r4, r0
- 800d026: 2520 movs r5, #32
- 800d028: f385 8811 msr BASEPRI, r5
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800d02c: 4e1a ldr r6, [pc, #104] ; (800d098 )
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800d02e: f8df a06c ldr.w sl, [pc, #108] ; 800d09c
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800d032: 6977 ldr r7, [r6, #20]
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800d034: 3964 subs r1, #100 ; 0x64
- 800d036: 4401 add r1, r0
- 800d038: 60c1 str r1, [r0, #12]
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800d03a: 2500 movs r5, #0
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800d03c: 640b str r3, [r1, #64] ; 0x40
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
-#endif
-#if CH_CFG_USE_MESSAGES == TRUE
- queue_init(&tp->p_msgqueue);
- 800d03e: f100 0b2c add.w fp, r0, #44 ; 0x2c
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800d042: f04f 0c01 mov.w ip, #1
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- list_init(&tp->p_waiting);
- 800d046: f100 0e28 add.w lr, r0, #40 ; 0x28
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800d04a: 9b0a ldr r3, [sp, #40] ; 0x28
- 800d04c: 644b str r3, [r1, #68] ; 0x44
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800d04e: f04f 0902 mov.w r9, #2
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800d052: f04f 0804 mov.w r8, #4
-
- chDbgCheckClassI();
- chDbgCheck((wsp != NULL) && (size >= THD_WORKING_AREA_SIZE(0)) &&
- (prio <= HIGHPRIO) && (pf != NULL));
-
- PORT_SETUP_CONTEXT(tp, wsp, size, pf, arg);
- 800d056: f8c1 a060 str.w sl, [r1, #96] ; 0x60
- *
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- 800d05a: 6082 str r2, [r0, #8]
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800d05c: 6106 str r6, [r0, #16]
- 800d05e: 6147 str r7, [r0, #20]
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- 800d060: 6402 str r2, [r0, #64] ; 0x40
- * @notapi
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- 800d062: f880 901c strb.w r9, [r0, #28]
- tp->p_flags = CH_FLAG_MODE_STATIC;
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
- 800d066: f880 801f strb.w r8, [r0, #31]
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
- 800d06a: f880 c01e strb.w ip, [r0, #30]
- */
-thread_t *_thread_init(thread_t *tp, tprio_t prio) {
-
- tp->p_prio = prio;
- tp->p_state = CH_STATE_WTSTART;
- tp->p_flags = CH_FLAG_MODE_STATIC;
- 800d06e: 7745 strb r5, [r0, #29]
-#if CH_CFG_TIME_QUANTUM > 0
- tp->p_preempt = (tslices_t)CH_CFG_TIME_QUANTUM;
-#endif
-#if CH_CFG_USE_MUTEXES == TRUE
- tp->p_realprio = prio;
- tp->p_mtxlist = NULL;
- 800d070: 63c5 str r5, [r0, #60] ; 0x3c
-#endif
-#if CH_CFG_USE_EVENTS == TRUE
- tp->p_epending = (eventmask_t)0;
- 800d072: 6385 str r5, [r0, #56] ; 0x38
-#endif
-#if CH_DBG_THREADS_PROFILING == TRUE
- tp->p_time = (systime_t)0;
- 800d074: 6205 str r5, [r0, #32]
-#endif
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- 800d076: 6185 str r5, [r0, #24]
- CH_DBG_STACK_FILL_VALUE);
-#endif
-
- chSysLock();
- tp = chThdCreateI(wsp, size, prio, pf, arg);
- chSchWakeupS(tp, MSG_OK);
- 800d078: 4629 mov r1, r5
-#if CH_CFG_USE_DYNAMIC == TRUE
- tp->p_refs = (trefs_t)1;
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- tp->p_name = NULL;
- REG_INSERT(tp);
- 800d07a: 6138 str r0, [r7, #16]
- *
- * @notapi
- */
-static inline void list_init(threads_list_t *tlp) {
-
- tlp->p_next = (thread_t *)tlp;
- 800d07c: f8c0 e028 str.w lr, [r0, #40] ; 0x28
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d080: f8c0 b02c str.w fp, [r0, #44] ; 0x2c
- tqp->p_prev = (thread_t *)tqp;
- 800d084: f8c0 b030 str.w fp, [r0, #48] ; 0x30
- 800d088: 6170 str r0, [r6, #20]
- CH_DBG_STACK_FILL_VALUE);
-#endif
-
- chSysLock();
- tp = chThdCreateI(wsp, size, prio, pf, arg);
- chSchWakeupS(tp, MSG_OK);
- 800d08a: f7ff fec1 bl 800ce10
- 800d08e: f385 8811 msr BASEPRI, r5
- chSysUnlock();
-
- return tp;
-}
- 800d092: 4620 mov r0, r4
- 800d094: e8bd 8ff8 ldmia.w sp!, {r3, r4, r5, r6, r7, r8, r9, sl, fp, pc}
- 800d098: 20000c40 .word 0x20000c40
- 800d09c: 0800c129 .word 0x0800c129
-
-0800d0a0 :
- * - @a TIME_IMMEDIATE this value is not allowed.
- * .
- *
- * @api
- */
-void chThdSleep(systime_t time) {
- 800d0a0: b508 push {r3, lr}
- 800d0a2: 4601 mov r1, r0
- 800d0a4: 2320 movs r3, #32
- 800d0a6: f383 8811 msr BASEPRI, r3
- */
-static inline void chThdSleepS(systime_t time) {
-
- chDbgCheck(time != TIME_IMMEDIATE);
-
- (void) chSchGoSleepTimeoutS(CH_STATE_SLEEPING, time);
- 800d0aa: 2008 movs r0, #8
- 800d0ac: f7ff fe88 bl 800cdc0
- 800d0b0: 2300 movs r3, #0
- 800d0b2: f383 8811 msr BASEPRI, r3
- 800d0b6: bd08 pop {r3, pc}
- 800d0b8: f3af 8000 nop.w
- 800d0bc: f3af 8000 nop.w
-
-0800d0c0 :
- *
- * @param[in] msg thread exit code
- *
- * @sclass
- */
-void chThdExitS(msg_t msg) {
- 800d0c0: b538 push {r3, r4, r5, lr}
- thread_t *tp = currp;
- 800d0c2: 4b0e ldr r3, [pc, #56] ; (800d0fc )
- 800d0c4: 699c ldr r4, [r3, #24]
- *
- * @notapi
- */
-static inline bool list_notempty(threads_list_t *tlp) {
-
- return (bool)(tlp->p_next != (thread_t *)tlp);
- 800d0c6: 6aa3 ldr r3, [r4, #40] ; 0x28
-
- tp->p_u.exitcode = msg;
- 800d0c8: 6260 str r0, [r4, #36] ; 0x24
-#if defined(CH_CFG_THREAD_EXIT_HOOK)
- CH_CFG_THREAD_EXIT_HOOK(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- while (list_notempty(&tp->p_waiting)) {
- 800d0ca: f104 0528 add.w r5, r4, #40 ; 0x28
- 800d0ce: 429d cmp r5, r3
- 800d0d0: d007 beq.n 800d0e2
-}
-
-static inline thread_t *list_remove(threads_list_t *tlp) {
-
- thread_t *tp = tlp->p_next;
- tlp->p_next = tp->p_next;
- 800d0d2: 681a ldr r2, [r3, #0]
- 800d0d4: 62a2 str r2, [r4, #40] ; 0x28
- (void) chSchReadyI(list_remove(&tp->p_waiting));
- 800d0d6: 4618 mov r0, r3
- 800d0d8: f7ff fe42 bl 800cd60
- *
- * @notapi
- */
-static inline bool list_notempty(threads_list_t *tlp) {
-
- return (bool)(tlp->p_next != (thread_t *)tlp);
- 800d0dc: 6aa3 ldr r3, [r4, #40] ; 0x28
- tp->p_u.exitcode = msg;
-#if defined(CH_CFG_THREAD_EXIT_HOOK)
- CH_CFG_THREAD_EXIT_HOOK(tp);
-#endif
-#if CH_CFG_USE_WAITEXIT == TRUE
- while (list_notempty(&tp->p_waiting)) {
- 800d0de: 42ab cmp r3, r5
- 800d0e0: d1f7 bne.n 800d0d2
- }
-#endif
-#if CH_CFG_USE_REGISTRY == TRUE
- /* Static threads are immediately removed from the registry because
- there is no memory to recover.*/
- if ((tp->p_flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC) {
- 800d0e2: 7f63 ldrb r3, [r4, #29]
- 800d0e4: 079b lsls r3, r3, #30
- 800d0e6: d104 bne.n 800d0f2
- REG_REMOVE(tp);
- 800d0e8: 6963 ldr r3, [r4, #20]
- 800d0ea: 6922 ldr r2, [r4, #16]
- 800d0ec: 611a str r2, [r3, #16]
- 800d0ee: 6922 ldr r2, [r4, #16]
- 800d0f0: 6153 str r3, [r2, #20]
- }
-#endif
- chSchGoSleepS(CH_STATE_FINAL);
- 800d0f2: 200f movs r0, #15
-
- /* The thread never returns here.*/
- chDbgAssert(false, "zombies apocalypse");
-}
- 800d0f4: e8bd 4038 ldmia.w sp!, {r3, r4, r5, lr}
- there is no memory to recover.*/
- if ((tp->p_flags & CH_FLAG_MODE_MASK) == CH_FLAG_MODE_STATIC) {
- REG_REMOVE(tp);
- }
-#endif
- chSchGoSleepS(CH_STATE_FINAL);
- 800d0f8: f7ff be4a b.w 800cd90
- 800d0fc: 20000c40 .word 0x20000c40
-
-0800d100 :
- 800d100: 2320 movs r3, #32
- 800d102: f383 8811 msr BASEPRI, r3
- * @api
- */
-void chThdExit(msg_t msg) {
-
- chSysLock();
- chThdExitS(msg);
- 800d106: f7ff bfdb b.w 800d0c0
- 800d10a: bf00 nop
- 800d10c: f3af 8000 nop.w
-
-0800d110 :
- * @param[in] trp a pointer to a thread reference object
- * @return The wake up message.
- *
- * @sclass
- */
-msg_t chThdSuspendS(thread_reference_t *trp) {
- 800d110: b510 push {r4, lr}
- *
- * @xclass
- */
-static inline thread_t *chThdGetSelfX(void) {
-
- return ch.rlist.r_current;
- 800d112: 4c05 ldr r4, [pc, #20] ; (800d128 )
- 800d114: 69a3 ldr r3, [r4, #24]
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- *trp = tp;
- 800d116: 6003 str r3, [r0, #0]
- * @param[in] trp a pointer to a thread reference object
- * @return The wake up message.
- *
- * @sclass
- */
-msg_t chThdSuspendS(thread_reference_t *trp) {
- 800d118: 4602 mov r2, r0
- thread_t *tp = chThdGetSelfX();
-
- chDbgAssert(*trp == NULL, "not NULL");
-
- *trp = tp;
- tp->p_u.wttrp = trp;
- 800d11a: 625a str r2, [r3, #36] ; 0x24
- chSchGoSleepS(CH_STATE_SUSPENDED);
- 800d11c: 2003 movs r0, #3
- 800d11e: f7ff fe37 bl 800cd90
-
- return chThdGetSelfX()->p_u.rdymsg;
- 800d122: 69a3 ldr r3, [r4, #24]
-}
- 800d124: 6a58 ldr r0, [r3, #36] ; 0x24
- 800d126: bd10 pop {r4, pc}
- 800d128: 20000c40 .word 0x20000c40
- 800d12c: f3af 8000 nop.w
-
-0800d130 :
- *
- * @iclass
- */
-void chThdResumeI(thread_reference_t *trp, msg_t msg) {
-
- if (*trp != NULL) {
- 800d130: 6803 ldr r3, [r0, #0]
- 800d132: b12b cbz r3, 800d140
- thread_t *tp = *trp;
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- 800d134: 2200 movs r2, #0
- 800d136: 6002 str r2, [r0, #0]
- tp->p_u.rdymsg = msg;
- (void) chSchReadyI(tp);
- 800d138: 4618 mov r0, r3
-
- chDbgAssert(tp->p_state == CH_STATE_SUSPENDED,
- "not THD_STATE_SUSPENDED");
-
- *trp = NULL;
- tp->p_u.rdymsg = msg;
- 800d13a: 6259 str r1, [r3, #36] ; 0x24
- (void) chSchReadyI(tp);
- 800d13c: f7ff be10 b.w 800cd60
- 800d140: 4770 bx lr
- 800d142: bf00 nop
- 800d144: f3af 8000 nop.w
- 800d148: f3af 8000 nop.w
- 800d14c: f3af 8000 nop.w
-
-0800d150 :
- *
- * @sclass
- */
-msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
-
- if (TIME_IMMEDIATE == timeout) {
- 800d150: b169 cbz r1, 800d16e
- return MSG_TIMEOUT;
- }
-
- queue_insert(currp, tqp);
- 800d152: 4b08 ldr r3, [pc, #32] ; (800d174 )
- * invoked with @p TIME_IMMEDIATE as timeout
- * specification.
- *
- * @sclass
- */
-msg_t chThdEnqueueTimeoutS(threads_queue_t *tqp, systime_t timeout) {
- 800d154: b410 push {r4}
- 800d156: 4602 mov r2, r0
-}
-
-static inline void queue_insert(thread_t *tp, threads_queue_t *tqp) {
-
- tp->p_next = (thread_t *)tqp;
- tp->p_prev = tqp->p_prev;
- 800d158: 6844 ldr r4, [r0, #4]
-
- if (TIME_IMMEDIATE == timeout) {
- return MSG_TIMEOUT;
- }
-
- queue_insert(currp, tqp);
- 800d15a: 699b ldr r3, [r3, #24]
-
- return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
- 800d15c: 2004 movs r0, #4
- 800d15e: e883 0014 stmia.w r3, {r2, r4}
- tp->p_prev->p_next = tp;
- 800d162: 6023 str r3, [r4, #0]
- tqp->p_prev = tp;
- 800d164: 6053 str r3, [r2, #4]
-}
- 800d166: f85d 4b04 ldr.w r4, [sp], #4
- return MSG_TIMEOUT;
- }
-
- queue_insert(currp, tqp);
-
- return chSchGoSleepTimeoutS(CH_STATE_QUEUED, timeout);
- 800d16a: f7ff be29 b.w 800cdc0
-}
- 800d16e: f04f 30ff mov.w r0, #4294967295 ; 0xffffffff
- 800d172: 4770 bx lr
- 800d174: 20000c40 .word 0x20000c40
- 800d178: f3af 8000 nop.w
- 800d17c: f3af 8000 nop.w
-
-0800d180 :
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
- 800d180: b538 push {r3, r4, r5, lr}
- *
- * @notapi
- */
-static inline bool queue_notempty(const threads_queue_t *tqp) {
-
- return (bool)(tqp->p_next != (const thread_t *)tqp);
- 800d182: 6803 ldr r3, [r0, #0]
-
- while (queue_notempty(tqp)) {
- 800d184: 4298 cmp r0, r3
- * @param[in] tqp pointer to the threads queue object
- * @param[in] msg the message code
- *
- * @iclass
- */
-void chThdDequeueAllI(threads_queue_t *tqp, msg_t msg) {
- 800d186: 4604 mov r4, r0
- 800d188: 460d mov r5, r1
-
- while (queue_notempty(tqp)) {
- 800d18a: d009 beq.n 800d1a0
-}
-
-static inline thread_t *queue_fifo_remove(threads_queue_t *tqp) {
- thread_t *tp = tqp->p_next;
-
- tqp->p_next = tp->p_next;
- 800d18c: 681a ldr r2, [r3, #0]
- 800d18e: 6022 str r2, [r4, #0]
- tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED, "invalid state");
-
- tp->p_u.rdymsg = msg;
- (void) chSchReadyI(tp);
- 800d190: 4618 mov r0, r3
- tqp->p_next->p_prev = (thread_t *)tqp;
- 800d192: 6054 str r4, [r2, #4]
-
- tp = queue_fifo_remove(tqp);
-
- chDbgAssert(tp->p_state == CH_STATE_QUEUED, "invalid state");
-
- tp->p_u.rdymsg = msg;
- 800d194: 625d str r5, [r3, #36] ; 0x24
- (void) chSchReadyI(tp);
- 800d196: f7ff fde3 bl 800cd60
- *
- * @notapi
- */
-static inline bool queue_notempty(const threads_queue_t *tqp) {
-
- return (bool)(tqp->p_next != (const thread_t *)tqp);
- 800d19a: 6823 ldr r3, [r4, #0]
- 800d19c: 429c cmp r4, r3
- 800d19e: d1f5 bne.n 800d18c
- 800d1a0: bd38 pop {r3, r4, r5, pc}
- 800d1a2: bf00 nop
- 800d1a4: f3af 8000 nop.w
- 800d1a8: f3af 8000 nop.w
- 800d1ac: f3af 8000 nop.w
-
-0800d1b0 :
- 800d1b0: 4b01 ldr r3, [pc, #4] ; (800d1b8 )
- 800d1b2: 685b ldr r3, [r3, #4]
- *
- * @xclass
- */
-NOINLINE void chTMStartMeasurementX(time_measurement_t *tmp) {
-
- tmp->last = chSysGetRealtimeCounterX();
- 800d1b4: 6083 str r3, [r0, #8]
- 800d1b6: 4770 bx lr
- 800d1b8: e0001000 .word 0xe0001000
- 800d1bc: f3af 8000 nop.w
-
-0800d1c0 :
- 800d1c0: 4b0f ldr r3, [pc, #60] ; (800d200 )
- *
- * @xclass
- */
-NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
-
- tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
- 800d1c2: 4910 ldr r1, [pc, #64] ; (800d204 )
- 800d1c4: 685a ldr r2, [r3, #4]
-static inline void tm_stop(time_measurement_t *tmp,
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- tmp->last = (now - tmp->last) - offset;
- 800d1c6: 6883 ldr r3, [r0, #8]
- *
- * @param[in,out] tmp pointer to a @p time_measurement_t structure
- *
- * @xclass
- */
-NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
- 800d1c8: b4f0 push {r4, r5, r6, r7}
-
- tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
- 800d1ca: 6f8f ldr r7, [r1, #120] ; 0x78
-
-static inline void tm_stop(time_measurement_t *tmp,
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- 800d1cc: 68c6 ldr r6, [r0, #12]
- tmp->last = (now - tmp->last) - offset;
- tmp->cumulative += (rttime_t)tmp->last;
- /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
- if (tmp->last > tmp->worst) {
- 800d1ce: 6841 ldr r1, [r0, #4]
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- tmp->last = (now - tmp->last) - offset;
- tmp->cumulative += (rttime_t)tmp->last;
- 800d1d0: e9d0 4504 ldrd r4, r5, [r0, #16]
-static inline void tm_stop(time_measurement_t *tmp,
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- tmp->last = (now - tmp->last) - offset;
- 800d1d4: 1ad3 subs r3, r2, r3
- 800d1d6: 1bdb subs r3, r3, r7
- tmp->cumulative += (rttime_t)tmp->last;
- 800d1d8: 18e4 adds r4, r4, r3
- 800d1da: f145 0500 adc.w r5, r5, #0
-
-static inline void tm_stop(time_measurement_t *tmp,
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- 800d1de: 3601 adds r6, #1
- tmp->last = (now - tmp->last) - offset;
- tmp->cumulative += (rttime_t)tmp->last;
- /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
- if (tmp->last > tmp->worst) {
- 800d1e0: 428b cmp r3, r1
-
-static inline void tm_stop(time_measurement_t *tmp,
- rtcnt_t now,
- rtcnt_t offset) {
-
- tmp->n++;
- 800d1e2: 60c6 str r6, [r0, #12]
- tmp->last = (now - tmp->last) - offset;
- 800d1e4: 6083 str r3, [r0, #8]
- tmp->cumulative += (rttime_t)tmp->last;
- 800d1e6: e9c0 4504 strd r4, r5, [r0, #16]
- /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
- if (tmp->last > tmp->worst) {
- 800d1ea: d805 bhi.n 800d1f8
- tmp->worst = tmp->last;
- }
- else if (tmp->last < tmp->best) {
- 800d1ec: 6802 ldr r2, [r0, #0]
- 800d1ee: 4293 cmp r3, r2
- tmp->best = tmp->last;
- 800d1f0: bf38 it cc
- 800d1f2: 6003 strcc r3, [r0, #0]
- * @xclass
- */
-NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
-
- tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
-}
- 800d1f4: bcf0 pop {r4, r5, r6, r7}
- 800d1f6: 4770 bx lr
- tmp->n++;
- tmp->last = (now - tmp->last) - offset;
- tmp->cumulative += (rttime_t)tmp->last;
- /*lint -save -e9013 [15.7] There is no else because it is not needed.*/
- if (tmp->last > tmp->worst) {
- tmp->worst = tmp->last;
- 800d1f8: 6043 str r3, [r0, #4]
- * @xclass
- */
-NOINLINE void chTMStopMeasurementX(time_measurement_t *tmp) {
-
- tm_stop(tmp, chSysGetRealtimeCounterX(), ch.tm.offset);
-}
- 800d1fa: bcf0 pop {r4, r5, r6, r7}
- 800d1fc: 4770 bx lr
- 800d1fe: bf00 nop
- 800d200: e0001000 .word 0xe0001000
- 800d204: 20000c40 .word 0x20000c40
- 800d208: f3af 8000 nop.w
- 800d20c: f3af 8000 nop.w
-
-0800d210 <_tm_init>:
-/**
- * @brief Initializes the time measurement unit.
- *
- * @init
- */
-void _tm_init(void) {
- 800d210: b5d0 push {r4, r6, r7, lr}
- time_measurement_t tm;
-
- /* Time Measurement subsystem calibration, it does a null measurement
- and calculates the call overhead which is subtracted to real
- measurements.*/
- ch.tm.offset = (rtcnt_t)0;
- 800d212: 4c0c ldr r4, [pc, #48] ; (800d244 <_tm_init+0x34>)
-/**
- * @brief Initializes the time measurement unit.
- *
- * @init
- */
-void _tm_init(void) {
- 800d214: b086 sub sp, #24
- time_measurement_t tm;
-
- /* Time Measurement subsystem calibration, it does a null measurement
- and calculates the call overhead which is subtracted to real
- measurements.*/
- ch.tm.offset = (rtcnt_t)0;
- 800d216: 2300 movs r3, #0
- *
- * @init
- */
-void chTMObjectInit(time_measurement_t *tmp) {
-
- tmp->best = (rtcnt_t)-1;
- 800d218: f04f 32ff mov.w r2, #4294967295 ; 0xffffffff
- /* Time Measurement subsystem calibration, it does a null measurement
- and calculates the call overhead which is subtracted to real
- measurements.*/
- ch.tm.offset = (rtcnt_t)0;
- chTMObjectInit(&tm);
- chTMStartMeasurementX(&tm);
- 800d21c: 4668 mov r0, sp
-
- tmp->best = (rtcnt_t)-1;
- tmp->worst = (rtcnt_t)0;
- tmp->last = (rtcnt_t)0;
- tmp->n = (ucnt_t)0;
- tmp->cumulative = (rttime_t)0;
- 800d21e: 2600 movs r6, #0
- 800d220: 2700 movs r7, #0
- time_measurement_t tm;
-
- /* Time Measurement subsystem calibration, it does a null measurement
- and calculates the call overhead which is subtracted to real
- measurements.*/
- ch.tm.offset = (rtcnt_t)0;
- 800d222: 67a3 str r3, [r4, #120] ; 0x78
- * @init
- */
-void chTMObjectInit(time_measurement_t *tmp) {
-
- tmp->best = (rtcnt_t)-1;
- tmp->worst = (rtcnt_t)0;
- 800d224: 9301 str r3, [sp, #4]
- tmp->last = (rtcnt_t)0;
- 800d226: 9302 str r3, [sp, #8]
- tmp->n = (ucnt_t)0;
- 800d228: 9303 str r3, [sp, #12]
- *
- * @init
- */
-void chTMObjectInit(time_measurement_t *tmp) {
-
- tmp->best = (rtcnt_t)-1;
- 800d22a: 9200 str r2, [sp, #0]
- tmp->worst = (rtcnt_t)0;
- tmp->last = (rtcnt_t)0;
- tmp->n = (ucnt_t)0;
- tmp->cumulative = (rttime_t)0;
- 800d22c: e9cd 6704 strd r6, r7, [sp, #16]
- /* Time Measurement subsystem calibration, it does a null measurement
- and calculates the call overhead which is subtracted to real
- measurements.*/
- ch.tm.offset = (rtcnt_t)0;
- chTMObjectInit(&tm);
- chTMStartMeasurementX(&tm);
- 800d230: f7ff ffbe bl 800d1b0
- chTMStopMeasurementX(&tm);
- 800d234: 4668 mov r0, sp
- 800d236: f7ff ffc3 bl 800d1c0
- ch.tm.offset = tm.last;
- 800d23a: 9b02 ldr r3, [sp, #8]
- 800d23c: 67a3 str r3, [r4, #120] ; 0x78
-}
- 800d23e: b006 add sp, #24
- 800d240: bdd0 pop {r4, r6, r7, pc}
- 800d242: bf00 nop
- 800d244: 20000c40 .word 0x20000c40
- 800d248: f3af 8000 nop.w
- 800d24c: f3af 8000 nop.w
-
-0800d250 :
-void chMtxObjectInit(mutex_t *mp) {
-
- chDbgCheck(mp != NULL);
-
- queue_init(&mp->m_queue);
- mp->m_owner = NULL;
- 800d250: 2300 movs r3, #0
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d252: 6000 str r0, [r0, #0]
- tqp->p_prev = (thread_t *)tqp;
- 800d254: 6040 str r0, [r0, #4]
- 800d256: 6083 str r3, [r0, #8]
- 800d258: 4770 bx lr
- 800d25a: bf00 nop
- 800d25c: f3af 8000 nop.w
-
-0800d260 :
-void chEvtSignalI(thread_t *tp, eventmask_t events) {
-
- chDbgCheckClassI();
- chDbgCheck(tp != NULL);
-
- tp->p_epending |= events;
- 800d260: 6b83 ldr r3, [r0, #56] ; 0x38
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- 800d262: 7f02 ldrb r2, [r0, #28]
-void chEvtSignalI(thread_t *tp, eventmask_t events) {
-
- chDbgCheckClassI();
- chDbgCheck(tp != NULL);
-
- tp->p_epending |= events;
- 800d264: 4319 orrs r1, r3
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- 800d266: 2a0a cmp r2, #10
-void chEvtSignalI(thread_t *tp, eventmask_t events) {
-
- chDbgCheckClassI();
- chDbgCheck(tp != NULL);
-
- tp->p_epending |= events;
- 800d268: 6381 str r1, [r0, #56] ; 0x38
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- 800d26a: d00a beq.n 800d282
- ((tp->p_epending & tp->p_u.ewmask) != (eventmask_t)0)) ||
- 800d26c: 2a0b cmp r2, #11
- 800d26e: d000 beq.n 800d272
- 800d270: 4770 bx lr
- ((tp->p_state == CH_STATE_WTANDEVT) &&
- ((tp->p_epending & tp->p_u.ewmask) == tp->p_u.ewmask))) {
- 800d272: 6a43 ldr r3, [r0, #36] ; 0x24
- 800d274: 4019 ands r1, r3
-
- tp->p_epending |= events;
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- ((tp->p_epending & tp->p_u.ewmask) != (eventmask_t)0)) ||
- ((tp->p_state == CH_STATE_WTANDEVT) &&
- 800d276: 428b cmp r3, r1
- 800d278: d1fa bne.n 800d270
- ((tp->p_epending & tp->p_u.ewmask) == tp->p_u.ewmask))) {
- tp->p_u.rdymsg = MSG_OK;
- 800d27a: 2300 movs r3, #0
- 800d27c: 6243 str r3, [r0, #36] ; 0x24
- (void) chSchReadyI(tp);
- 800d27e: f7ff bd6f b.w 800cd60
- chDbgCheck(tp != NULL);
-
- tp->p_epending |= events;
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- ((tp->p_epending & tp->p_u.ewmask) != (eventmask_t)0)) ||
- 800d282: 6a43 ldr r3, [r0, #36] ; 0x24
- chDbgCheckClassI();
- chDbgCheck(tp != NULL);
-
- tp->p_epending |= events;
- /* Test on the AND/OR conditions wait states.*/
- if (((tp->p_state == CH_STATE_WTOREVT) &&
- 800d284: 4219 tst r1, r3
- 800d286: d1f8 bne.n 800d27a
- 800d288: 4770 bx lr
- 800d28a: bf00 nop
- 800d28c: f3af 8000 nop.w
-
-0800d290 :
- * @param[in] esp pointer to the @p event_source_t structure
- * @param[in] flags the flags set to be added to the listener flags mask
- *
- * @iclass
- */
-void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
- 800d290: b570 push {r4, r5, r6, lr}
- event_listener_t *elp;
-
- chDbgCheckClassI();
- chDbgCheck(esp != NULL);
-
- elp = esp->es_next;
- 800d292: 6804 ldr r4, [r0, #0]
- /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
- while (elp != (event_listener_t *)esp) {
- 800d294: 42a0 cmp r0, r4
- * @param[in] esp pointer to the @p event_source_t structure
- * @param[in] flags the flags set to be added to the listener flags mask
- *
- * @iclass
- */
-void chEvtBroadcastFlagsI(event_source_t *esp, eventflags_t flags) {
- 800d296: 4606 mov r6, r0
- 800d298: 460d mov r5, r1
- chDbgCheckClassI();
- chDbgCheck(esp != NULL);
-
- elp = esp->es_next;
- /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
- while (elp != (event_listener_t *)esp) {
- 800d29a: d00d beq.n 800d2b8
- /*lint -restore*/
- elp->el_flags |= flags;
- 800d29c: 68e3 ldr r3, [r4, #12]
- 800d29e: 432b orrs r3, r5
- 800d2a0: 60e3 str r3, [r4, #12]
- /* When flags == 0 the thread will always be signaled because the
- source does not emit any flag.*/
- if ((flags == (eventflags_t)0) ||
- 800d2a2: b115 cbz r5, 800d2aa
- ((elp->el_flags & elp->el_wflags) != (eventflags_t)0)) {
- 800d2a4: 6922 ldr r2, [r4, #16]
- while (elp != (event_listener_t *)esp) {
- /*lint -restore*/
- elp->el_flags |= flags;
- /* When flags == 0 the thread will always be signaled because the
- source does not emit any flag.*/
- if ((flags == (eventflags_t)0) ||
- 800d2a6: 4213 tst r3, r2
- 800d2a8: d003 beq.n 800d2b2
- ((elp->el_flags & elp->el_wflags) != (eventflags_t)0)) {
- chEvtSignalI(elp->el_listener, elp->el_events);
- 800d2aa: 6860 ldr r0, [r4, #4]
- 800d2ac: 68a1 ldr r1, [r4, #8]
- 800d2ae: f7ff ffd7 bl 800d260
- }
- elp = elp->el_next;
- 800d2b2: 6824 ldr r4, [r4, #0]
- chDbgCheckClassI();
- chDbgCheck(esp != NULL);
-
- elp = esp->es_next;
- /*lint -save -e9087 -e740 [11.3, 1.3] Cast required by list handling.*/
- while (elp != (event_listener_t *)esp) {
- 800d2b4: 42a6 cmp r6, r4
- 800d2b6: d1f1 bne.n 800d29c
- 800d2b8: bd70 pop {r4, r5, r6, pc}
- 800d2ba: bf00 nop
- 800d2bc: f3af 8000 nop.w
-
-0800d2c0 :
- * @param[in] link application defined pointer
- *
- * @init
- */
-void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
- qnotify_t infy, void *link) {
- 800d2c0: b430 push {r4, r5}
- 800d2c2: 9c02 ldr r4, [sp, #8]
- iqp->q_buffer = bp;
- iqp->q_rdptr = bp;
- iqp->q_wrptr = bp;
- iqp->q_top = bp + size;
- iqp->q_notify = infy;
- iqp->q_link = link;
- 800d2c4: 6204 str r4, [r0, #32]
- */
-void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
- qnotify_t infy, void *link) {
-
- chThdQueueObjectInit(&iqp->q_waiting);
- iqp->q_counter = 0;
- 800d2c6: 2500 movs r5, #0
- iqp->q_buffer = bp;
- iqp->q_rdptr = bp;
- iqp->q_wrptr = bp;
- iqp->q_top = bp + size;
- 800d2c8: 440a add r2, r1
- */
-void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
- qnotify_t infy, void *link) {
-
- chThdQueueObjectInit(&iqp->q_waiting);
- iqp->q_counter = 0;
- 800d2ca: 6085 str r5, [r0, #8]
- iqp->q_buffer = bp;
- iqp->q_rdptr = bp;
- iqp->q_wrptr = bp;
- iqp->q_top = bp + size;
- 800d2cc: 6102 str r2, [r0, #16]
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d2ce: 6000 str r0, [r0, #0]
- tqp->p_prev = (thread_t *)tqp;
- 800d2d0: 6040 str r0, [r0, #4]
-void chIQObjectInit(input_queue_t *iqp, uint8_t *bp, size_t size,
- qnotify_t infy, void *link) {
-
- chThdQueueObjectInit(&iqp->q_waiting);
- iqp->q_counter = 0;
- iqp->q_buffer = bp;
- 800d2d2: 60c1 str r1, [r0, #12]
- iqp->q_rdptr = bp;
- 800d2d4: 6181 str r1, [r0, #24]
- iqp->q_wrptr = bp;
- 800d2d6: 6141 str r1, [r0, #20]
- iqp->q_top = bp + size;
- iqp->q_notify = infy;
- 800d2d8: 61c3 str r3, [r0, #28]
- iqp->q_link = link;
-}
- 800d2da: bc30 pop {r4, r5}
- 800d2dc: 4770 bx lr
- 800d2de: bf00 nop
-
-0800d2e0 :
-
- chDbgCheckClassI();
-
- iqp->q_rdptr = iqp->q_buffer;
- iqp->q_wrptr = iqp->q_buffer;
- iqp->q_counter = 0;
- 800d2e0: 2100 movs r1, #0
- */
-void chIQResetI(input_queue_t *iqp) {
-
- chDbgCheckClassI();
-
- iqp->q_rdptr = iqp->q_buffer;
- 800d2e2: 68c2 ldr r2, [r0, #12]
- iqp->q_wrptr = iqp->q_buffer;
- iqp->q_counter = 0;
- 800d2e4: 6081 str r1, [r0, #8]
- */
-void chIQResetI(input_queue_t *iqp) {
-
- chDbgCheckClassI();
-
- iqp->q_rdptr = iqp->q_buffer;
- 800d2e6: 6182 str r2, [r0, #24]
- iqp->q_wrptr = iqp->q_buffer;
- 800d2e8: 6142 str r2, [r0, #20]
- iqp->q_counter = 0;
- chThdDequeueAllI(&iqp->q_waiting, Q_RESET);
- 800d2ea: f06f 0101 mvn.w r1, #1
- 800d2ee: f7ff bf47 b.w 800d180
- 800d2f2: bf00 nop
- 800d2f4: f3af 8000 nop.w
- 800d2f8: f3af 8000 nop.w
- 800d2fc: f3af 8000 nop.w
-
-0800d300 :
- * @retval Q_TIMEOUT if the specified time expired.
- * @retval Q_RESET if the queue has been reset.
- *
- * @api
- */
-msg_t chIQGetTimeout(input_queue_t *iqp, systime_t timeout) {
- 800d300: b570 push {r4, r5, r6, lr}
- 800d302: 2320 movs r3, #32
- 800d304: 460e mov r6, r1
- 800d306: 4604 mov r4, r0
- 800d308: f383 8811 msr BASEPRI, r3
- uint8_t b;
-
- chSysLock();
- if (iqp->q_notify != NULL) {
- 800d30c: 69c3 ldr r3, [r0, #28]
- 800d30e: b12b cbz r3, 800d31c
- iqp->q_notify(iqp);
- 800d310: 4798 blx r3
- 800d312: e003 b.n 800d31c
- }
-
- while (chIQIsEmptyI(iqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&iqp->q_waiting, timeout);
- 800d314: f7ff ff1c bl 800d150
- if (msg < Q_OK) {
- 800d318: 2800 cmp r0, #0
- 800d31a: db15 blt.n 800d348
- */
-static inline bool chIQIsEmptyI(input_queue_t *iqp) {
-
- chDbgCheckClassI();
-
- return (bool)(chQSpaceI(iqp) == 0U);
- 800d31c: 68a5 ldr r5, [r4, #8]
- if (iqp->q_notify != NULL) {
- iqp->q_notify(iqp);
- }
-
- while (chIQIsEmptyI(iqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&iqp->q_waiting, timeout);
- 800d31e: 4620 mov r0, r4
- 800d320: 4631 mov r1, r6
- chSysLock();
- if (iqp->q_notify != NULL) {
- iqp->q_notify(iqp);
- }
-
- while (chIQIsEmptyI(iqp)) {
- 800d322: 2d00 cmp r5, #0
- 800d324: d0f6 beq.n 800d314
- return msg;
- }
- }
-
- iqp->q_counter--;
- b = *iqp->q_rdptr++;
- 800d326: 69a1 ldr r1, [r4, #24]
- chSysUnlock();
- return msg;
- }
- }
-
- iqp->q_counter--;
- 800d328: 68a3 ldr r3, [r4, #8]
- b = *iqp->q_rdptr++;
- if (iqp->q_rdptr >= iqp->q_top) {
- 800d32a: 6925 ldr r5, [r4, #16]
- return msg;
- }
- }
-
- iqp->q_counter--;
- b = *iqp->q_rdptr++;
- 800d32c: 1c4a adds r2, r1, #1
- chSysUnlock();
- return msg;
- }
- }
-
- iqp->q_counter--;
- 800d32e: 3b01 subs r3, #1
- b = *iqp->q_rdptr++;
- if (iqp->q_rdptr >= iqp->q_top) {
- 800d330: 42aa cmp r2, r5
- chSysUnlock();
- return msg;
- }
- }
-
- iqp->q_counter--;
- 800d332: 60a3 str r3, [r4, #8]
- b = *iqp->q_rdptr++;
- 800d334: 61a2 str r2, [r4, #24]
- if (iqp->q_rdptr >= iqp->q_top) {
- iqp->q_rdptr = iqp->q_buffer;
- 800d336: bf28 it cs
- 800d338: 68e3 ldrcs r3, [r4, #12]
- return msg;
- }
- }
-
- iqp->q_counter--;
- b = *iqp->q_rdptr++;
- 800d33a: 7808 ldrb r0, [r1, #0]
- if (iqp->q_rdptr >= iqp->q_top) {
- iqp->q_rdptr = iqp->q_buffer;
- 800d33c: bf28 it cs
- 800d33e: 61a3 strcs r3, [r4, #24]
- 800d340: 2300 movs r3, #0
- 800d342: f383 8811 msr BASEPRI, r3
- }
- chSysUnlock();
-
- return (msg_t)b;
-}
- 800d346: bd70 pop {r4, r5, r6, pc}
- 800d348: f385 8811 msr BASEPRI, r5
-
- while (chIQIsEmptyI(iqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&iqp->q_waiting, timeout);
- if (msg < Q_OK) {
- chSysUnlock();
- return msg;
- 800d34c: bd70 pop {r4, r5, r6, pc}
- 800d34e: bf00 nop
-
-0800d350 :
- * @return The number of bytes effectively transferred.
- *
- * @api
- */
-size_t chIQReadTimeout(input_queue_t *iqp, uint8_t *bp,
- size_t n, systime_t timeout) {
- 800d350: e92d 4ff0 stmdb sp!, {r4, r5, r6, r7, r8, r9, sl, fp, lr}
- 800d354: 4604 mov r4, r0
- 800d356: b083 sub sp, #12
- 800d358: 4689 mov r9, r1
- 800d35a: 4693 mov fp, r2
- 800d35c: 461d mov r5, r3
- qnotify_t nfy = iqp->q_notify;
- 800d35e: f8d0 801c ldr.w r8, [r0, #28]
- 800d362: 2720 movs r7, #32
- 800d364: f387 8811 msr BASEPRI, r7
- size_t r = 0;
- 800d368: 2600 movs r6, #0
- 800d36a: 9701 str r7, [sp, #4]
- 800d36c: 46b2 mov sl, r6
-
- chDbgCheck(n > 0U);
-
- chSysLock();
- while (true) {
- if (nfy != NULL) {
- 800d36e: f1b8 0f00 cmp.w r8, #0
- 800d372: d005 beq.n 800d380
- nfy(iqp);
- 800d374: 4620 mov r0, r4
- 800d376: 47c0 blx r8
- 800d378: e002 b.n 800d380
- }
-
- while (chIQIsEmptyI(iqp)) {
- if (chThdEnqueueTimeoutS(&iqp->q_waiting, timeout) != Q_OK) {
- 800d37a: f7ff fee9 bl 800d150
- 800d37e: b9e0 cbnz r0, 800d3ba
- 800d380: 68a7 ldr r7, [r4, #8]
- 800d382: 4620 mov r0, r4
- 800d384: 4629 mov r1, r5
- while (true) {
- if (nfy != NULL) {
- nfy(iqp);
- }
-
- while (chIQIsEmptyI(iqp)) {
- 800d386: 2f00 cmp r7, #0
- 800d388: d0f7 beq.n 800d37a
- return r;
- }
- }
-
- iqp->q_counter--;
- *bp++ = *iqp->q_rdptr++;
- 800d38a: 69a2 ldr r2, [r4, #24]
- chSysUnlock();
- return r;
- }
- }
-
- iqp->q_counter--;
- 800d38c: 68a3 ldr r3, [r4, #8]
- *bp++ = *iqp->q_rdptr++;
- 800d38e: 1c51 adds r1, r2, #1
- chSysUnlock();
- return r;
- }
- }
-
- iqp->q_counter--;
- 800d390: 3b01 subs r3, #1
- *bp++ = *iqp->q_rdptr++;
- 800d392: 61a1 str r1, [r4, #24]
- chSysUnlock();
- return r;
- }
- }
-
- iqp->q_counter--;
- 800d394: 60a3 str r3, [r4, #8]
- *bp++ = *iqp->q_rdptr++;
- 800d396: 7813 ldrb r3, [r2, #0]
- 800d398: f809 3b01 strb.w r3, [r9], #1
- if (iqp->q_rdptr >= iqp->q_top) {
- 800d39c: 6923 ldr r3, [r4, #16]
- 800d39e: 69a2 ldr r2, [r4, #24]
- 800d3a0: 429a cmp r2, r3
- iqp->q_rdptr = iqp->q_buffer;
- 800d3a2: bf24 itt cs
- 800d3a4: 68e3 ldrcs r3, [r4, #12]
- 800d3a6: 61a3 strcs r3, [r4, #24]
- 800d3a8: f38a 8811 msr BASEPRI, sl
- }
- chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
-
- r++;
- 800d3ac: 3601 adds r6, #1
- if (--n == 0U) {
- 800d3ae: 45b3 cmp fp, r6
- 800d3b0: d005 beq.n 800d3be
- 800d3b2: 9b01 ldr r3, [sp, #4]
- 800d3b4: f383 8811 msr BASEPRI, r3
- 800d3b8: e7d9 b.n 800d36e
- 800d3ba: f387 8811 msr BASEPRI, r7
- return r;
- }
-
- chSysLock();
- }
-}
- 800d3be: 4630 mov r0, r6
- 800d3c0: b003 add sp, #12
- 800d3c2: e8bd 8ff0 ldmia.w sp!, {r4, r5, r6, r7, r8, r9, sl, fp, pc}
- 800d3c6: bf00 nop
- 800d3c8: f3af 8000 nop.w
- 800d3cc: f3af 8000 nop.w
-
-0800d3d0 :
- * @param[in] link application defined pointer
- *
- * @init
- */
-void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
- qnotify_t onfy, void *link) {
- 800d3d0: b430 push {r4, r5}
- 800d3d2: 9c02 ldr r4, [sp, #8]
- oqp->q_buffer = bp;
- oqp->q_rdptr = bp;
- oqp->q_wrptr = bp;
- oqp->q_top = bp + size;
- oqp->q_notify = onfy;
- oqp->q_link = link;
- 800d3d4: 6204 str r4, [r0, #32]
- chThdQueueObjectInit(&oqp->q_waiting);
- oqp->q_counter = size;
- oqp->q_buffer = bp;
- oqp->q_rdptr = bp;
- oqp->q_wrptr = bp;
- oqp->q_top = bp + size;
- 800d3d6: 188d adds r5, r1, r2
- 800d3d8: 6105 str r5, [r0, #16]
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d3da: 6000 str r0, [r0, #0]
- tqp->p_prev = (thread_t *)tqp;
- 800d3dc: 6040 str r0, [r0, #4]
- */
-void chOQObjectInit(output_queue_t *oqp, uint8_t *bp, size_t size,
- qnotify_t onfy, void *link) {
-
- chThdQueueObjectInit(&oqp->q_waiting);
- oqp->q_counter = size;
- 800d3de: 6082 str r2, [r0, #8]
- oqp->q_buffer = bp;
- 800d3e0: 60c1 str r1, [r0, #12]
- oqp->q_rdptr = bp;
- 800d3e2: 6181 str r1, [r0, #24]
- oqp->q_wrptr = bp;
- 800d3e4: 6141 str r1, [r0, #20]
- oqp->q_top = bp + size;
- oqp->q_notify = onfy;
- 800d3e6: 61c3 str r3, [r0, #28]
- oqp->q_link = link;
-}
- 800d3e8: bc30 pop {r4, r5}
- 800d3ea: 4770 bx lr
- 800d3ec: f3af 8000 nop.w
-
-0800d3f0 :
- *
- * @param[in] oqp pointer to an @p output_queue_t structure
- *
- * @iclass
- */
-void chOQResetI(output_queue_t *oqp) {
- 800d3f0: b410 push {r4}
-
- chDbgCheckClassI();
-
- oqp->q_rdptr = oqp->q_buffer;
- oqp->q_wrptr = oqp->q_buffer;
- oqp->q_counter = chQSizeX(oqp);
- 800d3f2: 6902 ldr r2, [r0, #16]
- */
-void chOQResetI(output_queue_t *oqp) {
-
- chDbgCheckClassI();
-
- oqp->q_rdptr = oqp->q_buffer;
- 800d3f4: 68c4 ldr r4, [r0, #12]
- 800d3f6: 6184 str r4, [r0, #24]
- oqp->q_wrptr = oqp->q_buffer;
- oqp->q_counter = chQSizeX(oqp);
- 800d3f8: 1b12 subs r2, r2, r4
-void chOQResetI(output_queue_t *oqp) {
-
- chDbgCheckClassI();
-
- oqp->q_rdptr = oqp->q_buffer;
- oqp->q_wrptr = oqp->q_buffer;
- 800d3fa: 6144 str r4, [r0, #20]
- oqp->q_counter = chQSizeX(oqp);
- chThdDequeueAllI(&oqp->q_waiting, Q_RESET);
- 800d3fc: f06f 0101 mvn.w r1, #1
-
- chDbgCheckClassI();
-
- oqp->q_rdptr = oqp->q_buffer;
- oqp->q_wrptr = oqp->q_buffer;
- oqp->q_counter = chQSizeX(oqp);
- 800d400: 6082 str r2, [r0, #8]
- chThdDequeueAllI(&oqp->q_waiting, Q_RESET);
-}
- 800d402: f85d 4b04 ldr.w r4, [sp], #4
- chDbgCheckClassI();
-
- oqp->q_rdptr = oqp->q_buffer;
- oqp->q_wrptr = oqp->q_buffer;
- oqp->q_counter = chQSizeX(oqp);
- chThdDequeueAllI(&oqp->q_waiting, Q_RESET);
- 800d406: f7ff bebb b.w 800d180
- 800d40a: bf00 nop
- 800d40c: f3af 8000 nop.w
-
-0800d410 :
- * @retval Q_TIMEOUT if the specified time expired.
- * @retval Q_RESET if the queue has been reset.
- *
- * @api
- */
-msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t timeout) {
- 800d410: b5f8 push {r3, r4, r5, r6, r7, lr}
- 800d412: 4604 mov r4, r0
- 800d414: 460f mov r7, r1
- 800d416: 4616 mov r6, r2
- 800d418: 2320 movs r3, #32
- 800d41a: f383 8811 msr BASEPRI, r3
- 800d41e: e003 b.n 800d428
-
- chSysLock();
- while (chOQIsFullI(oqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&oqp->q_waiting, timeout);
- 800d420: f7ff fe96 bl 800d150
- if (msg < Q_OK) {
- 800d424: 2800 cmp r0, #0
- 800d426: db19 blt.n 800d45c
- */
-static inline bool chOQIsFullI(output_queue_t *oqp) {
-
- chDbgCheckClassI();
-
- return (bool)(chQSpaceI(oqp) == 0U);
- 800d428: 68a5 ldr r5, [r4, #8]
- */
-msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t timeout) {
-
- chSysLock();
- while (chOQIsFullI(oqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&oqp->q_waiting, timeout);
- 800d42a: 4620 mov r0, r4
- 800d42c: 4631 mov r1, r6
- * @api
- */
-msg_t chOQPutTimeout(output_queue_t *oqp, uint8_t b, systime_t timeout) {
-
- chSysLock();
- while (chOQIsFullI(oqp)) {
- 800d42e: 2d00 cmp r5, #0
- 800d430: d0f6 beq.n 800d420
- return msg;
- }
- }
-
- oqp->q_counter--;
- *oqp->q_wrptr++ = b;
- 800d432: 6962 ldr r2, [r4, #20]
- chSysUnlock();
- return msg;
- }
- }
-
- oqp->q_counter--;
- 800d434: 68a3 ldr r3, [r4, #8]
- *oqp->q_wrptr++ = b;
- 800d436: 1c51 adds r1, r2, #1
- chSysUnlock();
- return msg;
- }
- }
-
- oqp->q_counter--;
- 800d438: 3b01 subs r3, #1
- *oqp->q_wrptr++ = b;
- 800d43a: 6161 str r1, [r4, #20]
- chSysUnlock();
- return msg;
- }
- }
-
- oqp->q_counter--;
- 800d43c: 60a3 str r3, [r4, #8]
- *oqp->q_wrptr++ = b;
- 800d43e: 7017 strb r7, [r2, #0]
- if (oqp->q_wrptr >= oqp->q_top) {
- 800d440: 6923 ldr r3, [r4, #16]
- 800d442: 6962 ldr r2, [r4, #20]
- 800d444: 429a cmp r2, r3
- oqp->q_wrptr = oqp->q_buffer;
- 800d446: bf24 itt cs
- 800d448: 68e3 ldrcs r3, [r4, #12]
- 800d44a: 6163 strcs r3, [r4, #20]
- }
-
- if (oqp->q_notify != NULL) {
- 800d44c: 69e3 ldr r3, [r4, #28]
- 800d44e: b10b cbz r3, 800d454
- oqp->q_notify(oqp);
- 800d450: 4620 mov r0, r4
- 800d452: 4798 blx r3
- 800d454: 2000 movs r0, #0
- 800d456: f380 8811 msr BASEPRI, r0
- }
- chSysUnlock();
-
- return Q_OK;
-}
- 800d45a: bdf8 pop {r3, r4, r5, r6, r7, pc}
- 800d45c: f385 8811 msr BASEPRI, r5
- chSysLock();
- while (chOQIsFullI(oqp)) {
- msg_t msg = chThdEnqueueTimeoutS(&oqp->q_waiting, timeout);
- if (msg < Q_OK) {
- chSysUnlock();
- return msg;
- 800d460: bdf8 pop {r3, r4, r5, r6, r7, pc}
- 800d462: bf00 nop
- 800d464: f3af 8000 nop.w
- 800d468: f3af 8000 nop.w
- 800d46c: f3af 8000 nop.w
-
-0800d470 :
- * @return The number of bytes effectively transferred.
- *
- * @api
- */
-size_t chOQWriteTimeout(output_queue_t *oqp, const uint8_t *bp,
- size_t n, systime_t timeout) {
- 800d470: e92d 4ff0 stmdb sp!, {r4, r5, r6, r7, r8, r9, sl, fp, lr}
- 800d474: b083 sub sp, #12
- 800d476: 4604 mov r4, r0
- 800d478: 468b mov fp, r1
- 800d47a: 4615 mov r5, r2
- 800d47c: 9301 str r3, [sp, #4]
- qnotify_t nfy = oqp->q_notify;
- 800d47e: 69c7 ldr r7, [r0, #28]
- 800d480: f04f 0820 mov.w r8, #32
- 800d484: f388 8811 msr BASEPRI, r8
- size_t w = 0;
- 800d488: 2600 movs r6, #0
- 800d48a: 46b1 mov r9, r6
- 800d48c: 68a3 ldr r3, [r4, #8]
- return w;
- }
- }
-
- oqp->q_counter--;
- *oqp->q_wrptr++ = *bp++;
- 800d48e: f10b 0a01 add.w sl, fp, #1
- if (oqp->q_wrptr >= oqp->q_top) {
- oqp->q_wrptr = oqp->q_buffer;
- }
-
- if (nfy != NULL) {
- nfy(oqp);
- 800d492: 4620 mov r0, r4
-
- chDbgCheck(n > 0U);
-
- chSysLock();
- while (true) {
- while (chOQIsFullI(oqp)) {
- 800d494: b1fb cbz r3, 800d4d6
- return w;
- }
- }
-
- oqp->q_counter--;
- *oqp->q_wrptr++ = *bp++;
- 800d496: 6962 ldr r2, [r4, #20]
- chSysUnlock();
- return w;
- }
- }
-
- oqp->q_counter--;
- 800d498: 68a3 ldr r3, [r4, #8]
- *oqp->q_wrptr++ = *bp++;
- 800d49a: 1c51 adds r1, r2, #1
- chSysUnlock();
- return w;
- }
- }
-
- oqp->q_counter--;
- 800d49c: 3b01 subs r3, #1
- *oqp->q_wrptr++ = *bp++;
- 800d49e: 6161 str r1, [r4, #20]
- chSysUnlock();
- return w;
- }
- }
-
- oqp->q_counter--;
- 800d4a0: 60a3 str r3, [r4, #8]
- *oqp->q_wrptr++ = *bp++;
- 800d4a2: f89b 3000 ldrb.w r3, [fp]
- 800d4a6: 7013 strb r3, [r2, #0]
- if (oqp->q_wrptr >= oqp->q_top) {
- 800d4a8: 6923 ldr r3, [r4, #16]
- 800d4aa: 6962 ldr r2, [r4, #20]
- 800d4ac: 429a cmp r2, r3
- oqp->q_wrptr = oqp->q_buffer;
- 800d4ae: bf24 itt cs
- 800d4b0: 68e3 ldrcs r3, [r4, #12]
- 800d4b2: 6163 strcs r3, [r4, #20]
- }
-
- if (nfy != NULL) {
- 800d4b4: b107 cbz r7, 800d4b8
- nfy(oqp);
- 800d4b6: 47b8 blx r7
- 800d4b8: f389 8811 msr BASEPRI, r9
- }
- chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
-
- w++;
- if (--n == 0U) {
- 800d4bc: 3d01 subs r5, #1
- if (nfy != NULL) {
- nfy(oqp);
- }
- chSysUnlock(); /* Gives a preemption chance in a controlled point.*/
-
- w++;
- 800d4be: f106 0601 add.w r6, r6, #1
- if (--n == 0U) {
- 800d4c2: d012 beq.n 800d4ea
- 800d4c4: f388 8811 msr BASEPRI, r8
- 800d4c8: 68a3 ldr r3, [r4, #8]
- return w;
- }
- }
-
- oqp->q_counter--;
- *oqp->q_wrptr++ = *bp++;
- 800d4ca: 46d3 mov fp, sl
- 800d4cc: f10b 0a01 add.w sl, fp, #1
- if (oqp->q_wrptr >= oqp->q_top) {
- oqp->q_wrptr = oqp->q_buffer;
- }
-
- if (nfy != NULL) {
- nfy(oqp);
- 800d4d0: 4620 mov r0, r4
-
- chDbgCheck(n > 0U);
-
- chSysLock();
- while (true) {
- while (chOQIsFullI(oqp)) {
- 800d4d2: 2b00 cmp r3, #0
- 800d4d4: d1df bne.n 800d496
- if (chThdEnqueueTimeoutS(&oqp->q_waiting, timeout) != Q_OK) {
- 800d4d6: 4620 mov r0, r4
- 800d4d8: 9901 ldr r1, [sp, #4]
- 800d4da: 9300 str r3, [sp, #0]
- 800d4dc: f7ff fe38 bl 800d150
- 800d4e0: 9b00 ldr r3, [sp, #0]
- 800d4e2: 2800 cmp r0, #0
- 800d4e4: d0d2 beq.n 800d48c
- 800d4e6: f383 8811 msr BASEPRI, r3
- if (--n == 0U) {
- return w;
- }
- chSysLock();
- }
-}
- 800d4ea: 4630 mov r0, r6
- 800d4ec: b003 add sp, #12
- 800d4ee: e8bd 8ff0 ldmia.w sp!, {r4, r5, r6, r7, r8, r9, sl, fp, pc}
- 800d4f2: bf00 nop
- 800d4f4: f3af 8000 nop.w
- 800d4f8: f3af 8000 nop.w
- 800d4fc: f3af 8000 nop.w
-
-0800d500 <_core_init>:
-#if CH_CFG_MEMCORE_SIZE == 0
- extern uint8_t __heap_base__[];
- extern uint8_t __heap_end__[];
-
- /*lint -save -e9033 [10.8] Required cast operations.*/
- nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
- 800d500: 4a05 ldr r2, [pc, #20] ; (800d518 <_core_init+0x18>)
- endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
- 800d502: 4b06 ldr r3, [pc, #24] ; (800d51c <_core_init+0x1c>)
-#if CH_CFG_MEMCORE_SIZE == 0
- extern uint8_t __heap_base__[];
- extern uint8_t __heap_end__[];
-
- /*lint -save -e9033 [10.8] Required cast operations.*/
- nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
- 800d504: 4806 ldr r0, [pc, #24] ; (800d520 <_core_init+0x20>)
- endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
- 800d506: 4907 ldr r1, [pc, #28] ; (800d524 <_core_init+0x24>)
-#if CH_CFG_MEMCORE_SIZE == 0
- extern uint8_t __heap_base__[];
- extern uint8_t __heap_end__[];
-
- /*lint -save -e9033 [10.8] Required cast operations.*/
- nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
- 800d508: f022 0207 bic.w r2, r2, #7
- endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
- 800d50c: f023 0307 bic.w r3, r3, #7
-#if CH_CFG_MEMCORE_SIZE == 0
- extern uint8_t __heap_base__[];
- extern uint8_t __heap_end__[];
-
- /*lint -save -e9033 [10.8] Required cast operations.*/
- nextmem = (uint8_t *)MEM_ALIGN_NEXT(__heap_base__);
- 800d510: 6002 str r2, [r0, #0]
- endmem = (uint8_t *)MEM_ALIGN_PREV(__heap_end__);
- 800d512: 600b str r3, [r1, #0]
- 800d514: 4770 bx lr
- 800d516: bf00 nop
- 800d518: 20002e2f .word 0x20002e2f
- 800d51c: 20020000 .word 0x20020000
- 800d520: 20000e9c .word 0x20000e9c
- 800d524: 20000e98 .word 0x20000e98
- 800d528: f3af 8000 nop.w
- 800d52c: f3af 8000 nop.w
-
-0800d530 :
- * @return A pointer to the allocated memory block.
- * @retval NULL allocation failed, core memory exhausted.
- *
- * @api
- */
-void *chCoreAlloc(size_t size) {
- 800d530: b410 push {r4}
- 800d532: 2320 movs r3, #32
- 800d534: f383 8811 msr BASEPRI, r3
-
- chDbgCheckClassI();
-
- size = MEM_ALIGN_NEXT(size);
- /*lint -save -e9033 [10.8] The cast is safe.*/
- if ((size_t)(endmem - nextmem) < size) {
- 800d538: 4c09 ldr r4, [pc, #36] ; (800d560 )
- 800d53a: 4b0a ldr r3, [pc, #40] ; (800d564 )
- 800d53c: 6822 ldr r2, [r4, #0]
- 800d53e: 6819 ldr r1, [r3, #0]
-void *chCoreAllocI(size_t size) {
- void *p;
-
- chDbgCheckClassI();
-
- size = MEM_ALIGN_NEXT(size);
- 800d540: 1dc3 adds r3, r0, #7
- 800d542: f023 0307 bic.w r3, r3, #7
- /*lint -save -e9033 [10.8] The cast is safe.*/
- if ((size_t)(endmem - nextmem) < size) {
- 800d546: 1a89 subs r1, r1, r2
- 800d548: 428b cmp r3, r1
- /*lint -restore*/
- return NULL;
- }
- p = nextmem;
- nextmem += size;
- 800d54a: bf9d ittte ls
- 800d54c: 189b addls r3, r3, r2
- 800d54e: 6023 strls r3, [r4, #0]
-
- return p;
- 800d550: 4610 movls r0, r2
-
- size = MEM_ALIGN_NEXT(size);
- /*lint -save -e9033 [10.8] The cast is safe.*/
- if ((size_t)(endmem - nextmem) < size) {
- /*lint -restore*/
- return NULL;
- 800d552: 2000 movhi r0, #0
- 800d554: 2300 movs r3, #0
- 800d556: f383 8811 msr BASEPRI, r3
- chSysLock();
- p = chCoreAllocI(size);
- chSysUnlock();
-
- return p;
-}
- 800d55a: f85d 4b04 ldr.w r4, [sp], #4
- 800d55e: 4770 bx lr
- 800d560: 20000e9c .word 0x20000e9c
- 800d564: 20000e98 .word 0x20000e98
- 800d568: f3af 8000 nop.w
- 800d56c: f3af 8000 nop.w
-
-0800d570 <_heap_init>:
- *
- * @notapi
- */
-void _heap_init(void) {
-
- default_heap.h_provider = chCoreAlloc;
- 800d570: 4b04 ldr r3, [pc, #16] ; (800d584 <_heap_init+0x14>)
- 800d572: 4a05 ldr r2, [pc, #20] ; (800d588 <_heap_init+0x18>)
- 800d574: 601a str r2, [r3, #0]
- default_heap.h_free.h.u.next = NULL;
- default_heap.h_free.h.size = 0;
-#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
- chMtxObjectInit(&default_heap.h_mtx);
- 800d576: f103 0010 add.w r0, r3, #16
- * @notapi
- */
-void _heap_init(void) {
-
- default_heap.h_provider = chCoreAlloc;
- default_heap.h_free.h.u.next = NULL;
- 800d57a: 2200 movs r2, #0
- 800d57c: 609a str r2, [r3, #8]
- default_heap.h_free.h.size = 0;
- 800d57e: 60da str r2, [r3, #12]
-#if (CH_CFG_USE_MUTEXES == TRUE) || defined(__DOXYGEN__)
- chMtxObjectInit(&default_heap.h_mtx);
- 800d580: f7ff be66 b.w 800d250
- 800d584: 20000ea0 .word 0x20000ea0
- 800d588: 0800d531 .word 0x0800d531
- 800d58c: f3af 8000 nop.w
-
-0800d590 :
-/*lint -restore*/
- struct port_extctx *ctxp;
-
-#if CORTEX_USE_FPU
- /* Enforcing unstacking of the FP part of the context.*/
- FPU->FPCCR &= ~FPU_FPCCR_LSPACT_Msk;
- 800d590: 4a06 ldr r2, [pc, #24] ; (800d5ac )
- 800d592: 6853 ldr r3, [r2, #4]
- 800d594: f023 0301 bic.w r3, r3, #1
- 800d598: 6053 str r3, [r2, #4]
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
-{
- register uint32_t result;
-
- __ASM volatile ("MRS %0, psp\n" : "=r" (result) );
- 800d59a: f3ef 8309 mrs r3, PSP
- /* The port_extctx structure is pointed by the PSP register.*/
- ctxp = (struct port_extctx *)__get_PSP();
-
- /* Discarding the current exception context and positioning the stack to
- point to the real one.*/
- ctxp++;
- 800d59e: 3368 adds r3, #104 ; 0x68
-
- \param [in] topOfProcStack Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
-{
- __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
- 800d5a0: f383 8809 msr PSP, r3
-
- \param [in] basePri Base Priority value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
-{
- __ASM volatile ("MSR basepri, %0" : : "r" (value) : "memory");
- 800d5a4: 2300 movs r3, #0
- 800d5a6: f383 8811 msr BASEPRI, r3
- 800d5aa: 4770 bx lr
- 800d5ac: e000ef30 .word 0xe000ef30
-
-0800d5b0 <_port_irq_epilogue>:
- 800d5b0: 2320 movs r3, #32
- 800d5b2: f383 8811 msr BASEPRI, r3
- * @brief Exception exit redirection to _port_switch_from_isr().
- */
-void _port_irq_epilogue(void) {
-
- port_lock_from_isr();
- if ((SCB->ICSR & SCB_ICSR_RETTOBASE_Msk) != 0U) {
- 800d5b6: 4b12 ldr r3, [pc, #72] ; (800d600 <_port_irq_epilogue+0x50>)
- 800d5b8: 685b ldr r3, [r3, #4]
- 800d5ba: f413 6300 ands.w r3, r3, #2048 ; 0x800
- 800d5be: d102 bne.n 800d5c6 <_port_irq_epilogue+0x16>
- 800d5c0: f383 8811 msr BASEPRI, r3
- 800d5c4: 4770 bx lr
-/*===========================================================================*/
-
-/**
- * @brief Exception exit redirection to _port_switch_from_isr().
- */
-void _port_irq_epilogue(void) {
- 800d5c6: b510 push {r4, lr}
-#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
- uint32_t result;
-
- /* Empty asm statement works as a scheduling barrier */
- __ASM volatile ("");
- __ASM volatile ("VMRS %0, fpscr" : "=r" (result) );
- 800d5c8: eef1 3a10 vmrs r3, fpscr
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
-{
- register uint32_t result;
-
- __ASM volatile ("MRS %0, psp\n" : "=r" (result) );
- 800d5cc: f3ef 8409 mrs r4, PSP
- ctxp--;
-
- /* Setting up a fake XPSR register value.*/
- ctxp->xpsr = (regarm_t)0x01000000;
-#if CORTEX_USE_FPU == TRUE
- ctxp->fpscr = (regarm_t)FPU->FPDSCR;
- 800d5d0: 4b0c ldr r3, [pc, #48] ; (800d604 <_port_irq_epilogue+0x54>)
- /* Adding an artificial exception return context, there is no need to
- populate it fully.*/
- ctxp--;
-
- /* Setting up a fake XPSR register value.*/
- ctxp->xpsr = (regarm_t)0x01000000;
- 800d5d2: f04f 7280 mov.w r2, #16777216 ; 0x1000000
-#if CORTEX_USE_FPU == TRUE
- ctxp->fpscr = (regarm_t)FPU->FPDSCR;
- 800d5d6: 68db ldr r3, [r3, #12]
- 800d5d8: f844 3c08 str.w r3, [r4, #-8]
- /* Adding an artificial exception return context, there is no need to
- populate it fully.*/
- ctxp--;
-
- /* Setting up a fake XPSR register value.*/
- ctxp->xpsr = (regarm_t)0x01000000;
- 800d5dc: f844 2c4c str.w r2, [r4, #-76]
- /* The port_extctx structure is pointed by the PSP register.*/
- ctxp = (struct port_extctx *)__get_PSP();
-
- /* Adding an artificial exception return context, there is no need to
- populate it fully.*/
- ctxp--;
- 800d5e0: f1a4 0368 sub.w r3, r4, #104 ; 0x68
-
- \param [in] topOfProcStack Process Stack Pointer value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
-{
- __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
- 800d5e4: f383 8809 msr PSP, r3
- /* Writing back the modified PSP value.*/
- __set_PSP((uint32_t)ctxp);
-
- /* The exit sequence is different depending on if a preemption is
- required or not.*/
- if (chSchIsPreemptionRequired()) {
- 800d5e8: f7ff fc42 bl 800ce70
- 800d5ec: b118 cbz r0, 800d5f6 <_port_irq_epilogue+0x46>
- /* Preemption is required we need to enforce a context switch.*/
- ctxp->pc = (regarm_t)_port_switch_from_isr;
- 800d5ee: 4b06 ldr r3, [pc, #24] ; (800d608 <_port_irq_epilogue+0x58>)
- 800d5f0: f844 3c50 str.w r3, [r4, #-80]
- 800d5f4: bd10 pop {r4, pc}
- }
- else {
- /* Preemption not required, we just need to exit the exception
- atomically.*/
- ctxp->pc = (regarm_t)_port_exit_from_isr;
- 800d5f6: 4b05 ldr r3, [pc, #20] ; (800d60c <_port_irq_epilogue+0x5c>)
- 800d5f8: f844 3c50 str.w r3, [r4, #-80]
- 800d5fc: bd10 pop {r4, pc}
- 800d5fe: bf00 nop
- 800d600: e000ed00 .word 0xe000ed00
- 800d604: e000ef30 .word 0xe000ef30
- 800d608: 0800c139 .word 0x0800c139
- 800d60c: 0800c13c .word 0x0800c13c
-
-0800d610 :
- * board-specific initialization is performed by invoking
- * @p boardInit() (usually defined in @p board.c).
- *
- * @init
- */
-void halInit(void) {
- 800d610: b508 push {r3, lr}
-
- /* Initializes the OS Abstraction Layer.*/
- osalInit();
-
- /* Platform low level initializations.*/
- hal_lld_init();
- 800d612: f000 ff65 bl 800e4e0
-
-#if (HAL_USE_PAL == TRUE) || defined(__DOXYGEN__)
- palInit(&pal_default_config);
- 800d616: 480a ldr r0, [pc, #40] ; (800d640 )
- 800d618: f001 f97a bl 800e910 <_pal_lld_init>
-#endif
-#if (HAL_USE_ADC == TRUE) || defined(__DOXYGEN__)
- adcInit();
-#endif
-#if (HAL_USE_CAN == TRUE) || defined(__DOXYGEN__)
- canInit();
- 800d61c: f000 f818 bl 800d650
-#endif
-#if (HAL_USE_GPT == TRUE) || defined(__DOXYGEN__)
- gptInit();
-#endif
-#if (HAL_USE_I2C == TRUE) || defined(__DOXYGEN__)
- i2cInit();
- 800d620: f000 f846 bl 800d6b0
-#endif
-#if (HAL_USE_I2S == TRUE) || defined(__DOXYGEN__)
- i2sInit();
-#endif
-#if (HAL_USE_ICU == TRUE) || defined(__DOXYGEN__)
- icuInit();
- 800d624: f000 f854 bl 800d6d0
-#endif
-#if (HAL_USE_SPI == TRUE) || defined(__DOXYGEN__)
- spiInit();
-#endif
-#if (HAL_USE_UART == TRUE) || defined(__DOXYGEN__)
- uartInit();
- 800d628: f000 fa22 bl 800da70
-#endif
-#if (HAL_USE_USB == TRUE) || defined(__DOXYGEN__)
- usbInit();
- 800d62c: f000 fa30 bl 800da90
-#endif
-#if (HAL_USE_MMC_SPI == TRUE) || defined(__DOXYGEN__)
- mmcInit();
-#endif
-#if (HAL_USE_SERIAL_USB == TRUE) || defined(__DOXYGEN__)
- sduInit();
- 800d630: f000 f906 bl 800d840
- halCommunityInit();
-#endif
-#endif
-
- /* Board specific initialization.*/
- boardInit();
- 800d634: f002 fa7c bl 800fb30
- * configured to require it.
- */
-#if OSAL_ST_MODE != OSAL_ST_MODE_NONE
- stInit();
-#endif
-}
- 800d638: e8bd 4008 ldmia.w sp!, {r3, lr}
-/*
- * The ST driver is a special case, it is only initialized if the OSAL is
- * configured to require it.
- */
-#if OSAL_ST_MODE != OSAL_ST_MODE_NONE
- stInit();
- 800d63c: f000 ba10 b.w 800da60
- 800d640: 08013310 .word 0x08013310
- 800d644: f3af 8000 nop.w
- 800d648: f3af 8000 nop.w
- 800d64c: f3af 8000 nop.w
-
-0800d650 :
- *
- * @init
- */
-void canInit(void) {
-
- can_lld_init();
- 800d650: f001 b946 b.w 800e8e0
- 800d654: f3af 8000 nop.w
- 800d658: f3af 8000 nop.w
- 800d65c: f3af 8000 nop.w
-
-0800d660 :
- *
- * @param[out] canp pointer to the @p CANDriver object
- *
- * @init
- */
-void canObjectInit(CANDriver *canp) {
- 800d660: b5f0 push {r4, r5, r6, r7, lr}
-
- canp->state = CAN_STOP;
- canp->config = NULL;
- osalThreadQueueObjectInit(&canp->txqueue);
- 800d662: f100 0208 add.w r2, r0, #8
- osalThreadQueueObjectInit(&canp->rxqueue);
- 800d666: f100 0310 add.w r3, r0, #16
- *
- * @init
- */
-void canObjectInit(CANDriver *canp) {
-
- canp->state = CAN_STOP;
- 800d66a: f04f 0c01 mov.w ip, #1
- canp->config = NULL;
- 800d66e: f04f 0e00 mov.w lr, #0
- osalThreadQueueObjectInit(&canp->txqueue);
- osalThreadQueueObjectInit(&canp->rxqueue);
- osalEventObjectInit(&canp->rxfull_event);
- 800d672: f100 0718 add.w r7, r0, #24
- osalEventObjectInit(&canp->txempty_event);
- 800d676: f100 061c add.w r6, r0, #28
- osalEventObjectInit(&canp->error_event);
- 800d67a: f100 0520 add.w r5, r0, #32
-#if CAN_USE_SLEEP_MODE == TRUE
- osalEventObjectInit(&canp->sleep_event);
- 800d67e: f100 0424 add.w r4, r0, #36 ; 0x24
- osalEventObjectInit(&canp->wakeup_event);
- 800d682: f100 0128 add.w r1, r0, #40 ; 0x28
- *
- * @init
- */
-void canObjectInit(CANDriver *canp) {
-
- canp->state = CAN_STOP;
- 800d686: f880 c000 strb.w ip, [r0]
- canp->config = NULL;
- 800d68a: f8c0 e004 str.w lr, [r0, #4]
- *
- * @init
- */
-static inline void chEvtObjectInit(event_source_t *esp) {
-
- esp->es_next = (event_listener_t *)esp;
- 800d68e: 6187 str r7, [r0, #24]
- 800d690: 61c6 str r6, [r0, #28]
- 800d692: 6205 str r5, [r0, #32]
- 800d694: 6244 str r4, [r0, #36] ; 0x24
- 800d696: 6281 str r1, [r0, #40] ; 0x28
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d698: 6082 str r2, [r0, #8]
- tqp->p_prev = (thread_t *)tqp;
- 800d69a: 60c2 str r2, [r0, #12]
- *
- * @notapi
- */
-static inline void queue_init(threads_queue_t *tqp) {
-
- tqp->p_next = (thread_t *)tqp;
- 800d69c: 6103 str r3, [r0, #16]
- tqp->p_prev = (thread_t *)tqp;
- 800d69e: 6143 str r3, [r0, #20]
- 800d6a0: bdf0 pop {r4, r5, r6, r7, pc}
- 800d6a2: bf00 nop
- 800d6a4: f3af 8000 nop.w
- 800d6a8: f3af 8000 nop.w
- 800d6ac: f3af 8000 nop.w
-
-0800d6b0 :
- *
- * @init
- */
-void i2cInit(void) {
-
- i2c_lld_init();
- 800d6b0: f001 bb5e b.w 800ed70
- 800d6b4: f3af 8000 nop.w
- 800d6b8: f3af 8000 nop.w
- 800d6bc: f3af 8000 nop.w
-
-0800d6c0 :
- *
- * @init
- */
-void i2cObjectInit(I2CDriver *i2cp) {
-
- i2cp->state = I2C_STOP;
- 800d6c0: 2201 movs r2, #1
- i2cp->config = NULL;
- 800d6c2: 2300 movs r3, #0
- *
- * @init
- */
-void i2cObjectInit(I2CDriver *i2cp) {
-
- i2cp->state = I2C_STOP;
- 800d6c4: 7002 strb r2, [r0, #0]
- i2cp->config = NULL;
- 800d6c6: 6043 str r3, [r0, #4]
- * @init
- */
-static inline void osalMutexObjectInit(mutex_t *mp) {
-
-#if CH_CFG_USE_MUTEXES
- chMtxObjectInit(mp);
- 800d6c8: 300c adds r0, #12
- 800d6ca: f7ff bdc1 b.w 800d250
- 800d6ce: bf00 nop
-
-0800d6d0 :
- *
- * @init
- */
-void icuInit(void) {
-
- icu_lld_init();
- 800d6d0: f002 b96e b.w 800f9b0
- 800d6d4: f3af 8000 nop.w
- 800d6d8: f3af 8000 nop.w
- 800d6dc: f3af 8000 nop.w
-
-0800d6e0 :
- *
- * @init
- */
-void icuObjectInit(ICUDriver *icup) {
-
- icup->state = ICU_STOP;
- 800d6e0: 2201 movs r2, #1
- icup->config = NULL;
- 800d6e2: 2300 movs r3, #0
- *
- * @init
- */
-void icuObjectInit(ICUDriver *icup) {
-
- icup->state = ICU_STOP;
- 800d6e4: 7002 strb r2, [r0, #0]
- icup->config = NULL;
- 800d6e6: 6043 str r3, [r0, #4]
- 800d6e8: 4770 bx lr
- 800d6ea: bf00 nop
- 800d6ec: f3af 8000 nop.w
-
-0800d6f0 :
-/**
- * @brief Notification of data inserted into the output queue.
- *
- * @param[in] qp the queue pointer.
- */
-static void onotify(io_queue_t *qp) {
- 800d6f0: b510 push {r4, lr}
- size_t n;
- SerialUSBDriver *sdup = qGetLink(qp);
- 800d6f2: 6a04 ldr r4, [r0, #32]
-
- /* If the USB driver is not in the appropriate state then transactions
- must not be started.*/
- if ((usbGetDriverStateI(sdup->config->usbp) != USB_ACTIVE) ||
- 800d6f4: f8d4 2254 ldr.w r2, [r4, #596] ; 0x254
- 800d6f8: 6813 ldr r3, [r2, #0]
- 800d6fa: 7819 ldrb r1, [r3, #0]
- 800d6fc: 2904 cmp r1, #4
- 800d6fe: d000 beq.n 800d702
- 800d700: bd10 pop {r4, pc}
- 800d702: 7a21 ldrb r1, [r4, #8]
- 800d704: 2902 cmp r1, #2
- 800d706: d1fb bne.n 800d700
- return;
- }
-
- /* If there is not an ongoing transaction and the output queue contains
- data then a new transaction is started.*/
- if (!usbGetTransmitStatusI(sdup->config->usbp, sdup->config->bulk_in)) {
- 800d708: 7911 ldrb r1, [r2, #4]
- 800d70a: 891a ldrh r2, [r3, #8]
- 800d70c: 2301 movs r3, #1
- 800d70e: 408b lsls r3, r1
- 800d710: 401a ands r2, r3
- 800d712: d1f5 bne.n 800d700
- */
-static inline size_t chOQGetFullI(output_queue_t *oqp) {
-
- chDbgCheckClassI();
-
- return (size_t)(chQSizeX(oqp) - chQSpaceI(oqp));
- 800d714: 6c21 ldr r1, [r4, #64] ; 0x40
- 800d716: 6be3 ldr r3, [r4, #60] ; 0x3c
- 800d718: 6ba0 ldr r0, [r4, #56] ; 0x38
- 800d71a: 1acb subs r3, r1, r3
- if ((n = oqGetFullI(&sdup->oqueue)) > 0U) {
- 800d71c: 1a1b subs r3, r3, r0
- 800d71e: d0ef beq.n 800d700
-
- \param [in] basePri Base Priority value to set
- */
-__attribute__( ( always_inline ) ) __STATIC_INLINE void __set_BASEPRI(uint32_t value)
-{
- __ASM volatile ("MSR basepri, %0" : : "r" (value) : "memory");
- 800d720: f382 8811 msr BASEPRI, r2
- osalSysUnlock();
-
- usbPrepareQueuedTransmit(sdup->config->usbp,
- 800d724: f8d4 2254 ldr.w r2, [r4, #596] ; 0x254
- 800d728: 6810 ldr r0, [r2, #0]
- 800d72a: 7911 ldrb r1, [r2, #4]
- 800d72c: f104 0230 add.w r2, r4, #48 ; 0x30
- 800d730: f000 fa0e bl 800db50
- 800d734: 2320 movs r3, #32
- 800d736: f383 8811 msr BASEPRI, r3
- sdup->config->bulk_in,
- &sdup->oqueue, n);
-
- osalSysLock();
- (void) usbStartTransmitI(sdup->config->usbp, sdup->config->bulk_in);
- 800d73a: f8d4 3254 ldr.w r3, [r4, #596] ; 0x254
- }
- }
-}
- 800d73e: e8bd 4010 ldmia.w sp!, {r4, lr}
- usbPrepareQueuedTransmit(sdup->config->usbp,
- sdup->config->bulk_in,
- &sdup->oqueue, n);
-
- osalSysLock();
- (void) usbStartTransmitI(sdup->config->usbp, sdup->config->bulk_in);
- 800d742: 6818 ldr r0, [r3, #0]
- 800d744: 7919 ldrb r1, [r3, #4]
- 800d746: f000 ba2b b.w 800dba0
- 800d74a: bf00 nop
- 800d74c: f3af 8000 nop.w
-
-0800d750 :
-/**
- * @brief Notification of data removed from the input queue.
- *
- * @param[in] qp the queue pointer.
- */
-static void inotify(io_queue_t *qp) {
- 800d750: b538 push {r3, r4, r5, lr}
- size_t n, maxsize;
- SerialUSBDriver *sdup = qGetLink(qp);
- 800d752: 6a04 ldr r4, [r0, #32]
-
- /* If the USB driver is not in the appropriate state then transactions
- must not be started.*/
- if ((usbGetDriverStateI(sdup->config->usbp) != USB_ACTIVE) ||
- 800d754: f8d4 2254 ldr.w r2, [r4, #596] ; 0x254
- 800d758: 6813 ldr r3, [r2, #0]
- 800d75a: 7819 ldrb r1, [r3, #0]
- 800d75c: 2904 cmp r1, #4
- 800d75e: d000 beq.n 800d762
- 800d760: bd38 pop {r3, r4, r5, pc}
- 800d762: 7a21 ldrb r1, [r4, #8]
- 800d764: 2902 cmp r1, #2
- 800d766: d1fb bne.n 800d760
- }
-
- /* If there is in the queue enough space to hold at least one packet and
- a transaction is not yet started then a new transaction is started for
- the available space.*/
- maxsize = sdup->config->usbp->epc[sdup->config->bulk_out]->out_maxsize;
- 800d768: 7950 ldrb r0, [r2, #5]
- if (!usbGetReceiveStatusI(sdup->config->usbp, sdup->config->bulk_out)) {
- 800d76a: 8959 ldrh r1, [r3, #10]
- }
-
- /* If there is in the queue enough space to hold at least one packet and
- a transaction is not yet started then a new transaction is started for
- the available space.*/
- maxsize = sdup->config->usbp->epc[sdup->config->bulk_out]->out_maxsize;
- 800d76c: eb03 0380 add.w r3, r3, r0, lsl #2
- if (!usbGetReceiveStatusI(sdup->config->usbp, sdup->config->bulk_out)) {
- 800d770: 2201 movs r2, #1
- }
-
- /* If there is in the queue enough space to hold at least one packet and
- a transaction is not yet started then a new transaction is started for
- the available space.*/
- maxsize = sdup->config->usbp->epc[sdup->config->bulk_out]->out_maxsize;
- 800d772: 68db ldr r3, [r3, #12]
- if (!usbGetReceiveStatusI(sdup->config->usbp, sdup->config->bulk_out)) {
- 800d774: 4082 lsls r2, r0
- 800d776: 400a ands r2, r1
- }
-
- /* If there is in the queue enough space to hold at least one packet and
- a transaction is not yet started then a new transaction is started for
- the available space.*/
- maxsize = sdup->config->usbp->epc[sdup->config->bulk_out]->out_maxsize;
- 800d778: 8a5b ldrh r3, [r3, #18]
- if (!usbGetReceiveStatusI(sdup->config->usbp, sdup->config->bulk_out)) {
- 800d77a: d1f1 bne.n 800d760